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The grant supported research efforts in two main research questions: (1) How do we segment and estimate the slant/tilt of natural scenes with highly irregular textures, using both biological and non-biological computing architectures; and (2) How do we design -machine perception and action systems and learning mechanisms that can improve their performance through repeated feedback and interaction with their environment? Section 2 describes the research and publications relating to the slant/tilt and segmentation problem. Section 3 describes research and publications using developmental psychological and machine learning frameworks for learning visuomotor tasks. Finally, Section 4 summarizes the two Ph.D dissertations in the Department of Computer and Information Science made possible with AFOSR support.