It has been suggested that perceptual immaturity in early infancy enhances learning for various cognitive functions. This paper demonstrates the role of visual development triggered by self-organization in the learner's visual space. As a case study, a robot learns the mirror neuron system (MNS) by associating self-motor commands with observed motions while the observed motions are gradually self-organized. A temporal convergence of the self-organization triggers visual development, which is an improvement of spatiotemporal blur filters for the robot's vision, and thus further advances self- organization in the visual space. Experimental results show that the self-triggered development enables the robot to adaptively change the speed of the development (i.e., slower in the early stage and faster in the latter stage) and thus to acquire clearer correspondence between self and other (i.e., the MNS).
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