Is there something out there ? Inferring space from sensorimotor

This paper suggests that in biological organisms, the perceived structure of reality, in particular the notions of body, environment, space, object, and attribute, could be a consequence of an effort on the part of brains to account for the dependency between their inputs and their outputs in terms of a small number of parameters. To validate this idea, a procedure is demonstrated whereby the brain of an organism with arbitrary input and output connectivity can deduce the dimensionality of the rigid group of the space underlying its input-output relationship, that is the dimension of what the organism will call physical space.