Bob: Particularly I'd be interested in having
the robot learn a model of its own body kinematics - the beginnings of
a sense of self - based on data mining its sensory data and also using
experimental movements to confirm or refute hypotheses, which mught to
a naive observer look like "play".

Correct me - because the "model of its own body kinematics" sounds v. interesting & important. But you sound like you're calling for an "analysis" of sensory data from different parts of the body, whereas my v. vague idea at this stage of what is needed is: 1) total "body thinking" and processing - so a mobile agent can be aware of, and located in its whole body when making movements - "a distributed field awareness"; and 2) have an internal 3-D model of its body, in its brain, which can be used in a similarly integrated way to form v. sketchy outline plans of movements.

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agi
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