Human infants have an extraordinary capa- bility to discover new ways of representing and manipulating knowledge, and a key dimension of development is the progressive transformation of sensorimotor and cognitive representations. Such adaptation of represen- tations provides high flexibility and creativity to humans, and for this reason researchers have also tried to study how analogous mech- anisms could be implemented in developing robots. However, how these mechanisms are working in humans, and what are the possible approaches to implement them in machines, are still largely open questions.