This is the Editorial of the Research Topic (Special Issue) in Frontiers in Psychology and Frontiers in Neurorobotics: Intrinsic motivations and open-ended development in animals, humans, and robots.

The nature of cognition is being re-considered. Instead of emphasizing formal operations on abstract symbols, the new approach foregrounds the fact that cognition is, rather, a situated activity, and suggests that thinking beings ought therefore be considered first and foremost as acting beings. The essay reviews recent work in Embodied Cognition, provides a concise guide to its principles, attitudes and goals, and identifies the physical grounding project as its central research focus.