This paper presents a model of intelligence based on principles introduced by Piaget and the interactivist framework. It focuses on embodiment and sensory-motor aspects of the mind but copes with general issues such as regulation, accommodation to noise and variability or synchronization of the agent internal dynamics with the environment. The proposed evolutionary and constructivist theory is illustrated by a real-time rhythm recognition program and goal-reaching algorithm, both based on prediction and assimilation.
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