p416fig12.13 The DIRECT model learns, using a circular reaction that is energized by an Endogenous Random Generator, or ERG, to make motor-equivalent volitionally-activated reaches.  This circular reaction learns a spatial representation of a target in space.  It can hereby make accurate reaches with clamped joints and on its first try using a tool under visual guidance; see Figure 12.16.<BR>||  DIRECT model (Bulloch, Grossberg, Guenther 1993).  learns by circular reaction.  learns spatial reresentation  to me4diate between vision and action.  motor-equivalent reaching.  can reach target with clamped joints.  can reach target with a TOOL on the first try under visual guidance.  How did tool use arise?!