An apparatus automatically generates internal representations in a recognition and control system which is capable of actively varying a state of a subject, such an object and a related environment, to be processed by the recognition and control system, a state of the recognition and control system itself, or a relationship between the subject and the recognition and control system. The apparatus includes a sensor detecting a state of the recognition and control system and outputting a sensor signal, an actuator varying the state of the recognition and control system in response to a control signal, a sensory module processing the sensor signal from the sensor and outputting a sensory signal, a motor module generating and outputting the control signal which controls the actuator, based on a motor signal or a motor command, and an automatic adjusting module analyzing a mutual dependency relationship between the sensor signal and the control signal, based on the sensory signal from the sensory module and the control signal from the motor module, to obtain the analysis results, and automatically adjusting sensory characteristic of the sensory module and motor characteristic of the motor module, based on the analysis results, so that sensory information and motor information, which are internal representations of the sensor signal and the control signal, are automatically generated.
Method and apparatus for automatically generating internal representation