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Summary form only given. The development and emergence of cognition relies on artificial embodiments having complex and rich perceptual and motor capabilities. The impressive advance of research and development in robotics over the past years has led to the development of humanoid robots that are rich in sensory and motor capabilities and hence provide a suitable framework for studying cognition. Currently, the different disciplines related to the development of cognitive humanoids have usually been explored independently, leading to significant results within each discipline. However, the big challenge is how different pieces of results fit together to achieve complete processing models and an integrative system architecture, and how to evaluate results at system level rather than focusing on the performance of component algorithms.