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Faced with a vast, dynamic environment, some animals and robots often need to acquire and segregate information about objects. The form of their internal representation depends on how the information is utilised. Sometimes it should be compressed and abstracted from the original, often complex, sensory information, so it can be efficiently stored and manipulated, for deriving interpretations, causal relationships, functions or affordances. We discuss how salient features of objects can be useddoi:10.1007/978-3-642-37225-4_10 fatcat:uygwbwdq6rdxzacspvplz44i3m