(A) Temporal sequence of activations in various neural maps (color, shape, object, and action hubs) when the robot by random exploration stacks the mushroom on top of the cylinder. The content encoded in the episodic memory network is the temporal sequence of activity in the object, action, and value hubs, when the robot gains experiences. (B) The complete temporal sequence of bottom-up activity in the object-action hubs and rewards received when experience is acquired (Panel A) as represented in the 50 × 20 episodic memory network. (C) The similar encoding of episode 2 where the robot stacks the cylinder on top of the mushroom, receiving the lesser reward (as the tallest stack was not built). Note that the activations in rows 1 and 3 are swapped in Panels B and C, reflecting the temporal sequence of activations when experience is gained. Rewards received are based on the robot’s success in building the tallest stack and changes dynamically with the situation. (D) The behavior immediately after two episodes of experience are encoded. Bottom-up perception of the mushroom activates the object hub and fills in partial information in the episodic memory network, leading to recall of past experiences associated with it. What is recalled filling in all missing information is a valuable inference that it is more rewarding to stack mushroom-like objects on the top. The emphasis in the preliminary example is that valuable action sequences are implicitly evident in the episodic recall of past experiences.