We share the authors' general approach to the study of perception and action, but rather than singling out a particular level of “late perceptual” and “early motor” processing for sensorimotor interactions, we argue that these can arise at multiple levels during action preparation and execution. Recent data on action-perception transfer are used to illustrate this perspective.

We outline a view of imitative behaviour as largely internally driven and discuss, based on experimental research, the distinction between program versus action level imitation, the role of organismic constraints, observational learning as vicarious exploration, and imitation as selection in speeded response paradigms.