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Zhao et al. propose a model which develops perception and behavior in parallel.

Their motivation is the embodiment idea stating that perception and behavior develop in behaving animals

Disparity-selective cells in visual cortical neurons have preferred disparities of only a few degrees whereas disparity in natural environments ranges over tens of degrees.

The possible explanation offered by Zhao et al. assumes that animals actively keep disparity within a small range, during development, and therefore only selectivity for small disparity develops.

Sensation refers to the change of state of the nervous system induced purely by a stimulus. Perception integrates sensation with experience and training.

According to Friston, percepts are `the products of recognizing the causes of sensory input and sensation'.