Figure 4: SNN architecture used for our experiments, demonstrating the interrelation of the AS process and the OC learning rule in a three-sensor and three-motor configuration. See also Figure 3: A = action, CPG = central pattern generator, D = decision, G = green, N = neuron, P = predictor, S = synapse, R = red, Y = yellow, and STDP = three consecutive arrows on a synapse.