When iCub is presented with a blue cylinder and orange sphere, partial cues are generated (A), leading iCub to recall its past experiences of exploring with the green sphere and yellow cylinders (B). Only the more rewarding experience EM1 is shown (B). (C) The present behavior of the robot of stacking the orange sphere on top of the blue cylinder. Note that this episode is different from the recalled past experience (panel B). The difference between panels B and C is highlighted and mainly corresponds to change in activations related to color in the object hub. Nevertheless, the consequence in terms of reward received is as anticipated. Thus, instead of storing the present behavior as a new memory, EM1 is consolidated by eliminating the difference between recalled past experience and present behavior. In other words, the robot encodes that color of objects do not matter when building the tallest stack. Thus, not every episode of experience is stored. Only those that contain information that is not available in the retrieved past experiences are stored. In the future, when any combination of spheres and cylinders (E) is encountered, the new consolidated episodic memory is remembered and used to guide the present action plan.