# A novel plasticity rule can explain the development of sensorimotor intelligence

arXiv: https://arxiv.org/abs/1505.00835 · HTML: https://mlsanity.com/paper/1505.00835/

## Key facts

- Cited by 3 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 4 May 2015.

## Built on by (most cited first, 3 of 3)

- [DEP-RL: Embodied Exploration for Reinforcement Learning in Overactuated and Musculoskeletal Systems](https://mlsanity.com/paper/2206.00484/) (2022)
- [Unraveling the cognitive patterns of Large Language Models through module communities](https://mlsanity.com/paper/2508.18192/) (2025)
- [Lambda-Hold Control: Human-Like Movement Emerges from a Minimal Task Reward in Predictive Musculoskeletal Simulation](https://mlsanity.com/paper/2608.17030/) (2026)

## Abstract (arXiv)

Grounding autonomous behavior in the nervous system is a fundamental challenge for neuroscience. In particular, the self-organized behavioral development provides more questions than answers. Are there special functional units for curiosity, motivation, and creativity? This paper argues that these features can be grounded in synaptic plasticity itself, without requiring any higher level constructs. We propose differential extrinsic plasticity (DEP) as a new synaptic rule for self-learning systems and apply it to a number of complex robotic systems as a test case. Without specifying any purpose or goal, seemingly purposeful and adaptive behavior is developed, displaying a certain level of sensorimotor intelligence. These surprising results require no system specific modifications of the DEP rule but arise rather from the underlying mechanism of spontaneous symmetry breaking due to the tight brain-body-environment coupling. The new synaptic rule is biologically plausible and it would be an interesting target for a neurobiolocal investigation. We also argue that this neuronal mechanism may have been a catalyst in natural evolution.