  In this paper, we propose the concept of sensorimotor tappings, a new
graphical technique that explicitly represents relations between the time steps
of an agent's sensorimotor loop and a single training step of an adaptive
internal model. In the simplest case this is a relation linking two time steps.
In realistic cases these relations can extend over several time steps and over
different sensory channels. The aim is to capture the footprint of information
intake relative to the agent's current time step. We argue that this view
allows us to make prior considerations explicit and then use them in
implementations without modification once they are established.
  Here we explain the basic idea, provide example tappings for standard
configurations used in developmental models, and show how tappings can be
applied to problems in related fields.
