Understanding the evolution of babies nervous systems as they transition from producing spontaneous movements, to the development of deliberate intentional ones is one of our goals. Following Esther Thelen’s and Carolyn Rovee-Collier’s groundbreaking work in human development, we aim at further developing this line of research while leveraging more recent technological and algorithmic advances in our own lab. How do babies become motorically and cognitively aware of their own limbs and how di they come to control them in an anticipatory, predictive manner?