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A computer program that interacts through sensory and motor mechanisms with a simulated two-dimensional environment is described. The program receives information from the environment through visual and tactile senses, and possesses an arm with which it can move objects. Learning mechanisms are described that allow the program to progress from almost random initial behavior to fairly organized interactions with the environment, including guiding the arm by use of visual information. The program retains its knowledge of its world in a net-like structure.