Reviews: Unsupervised Emergence of Egocentric Spatial Structure from Sensorimotor Prediction

We had quite an extensive discussion about this paper after the author response. The reviewers appreciated the clarifications and especially the additional experiment. What makes the paper stand out is proposing two generic conditions that enforce the emergence of spatial structures and experimentally validating them. The discussion circled around Equation (1), how well that would hold for realistic (noisy) sensing and what the implication on the emergence of the spatial structures would be. To our understanding the later parts of the paper don't rely on this equation but only on the intuition.