In this video, a virtual vehicle is tasked with the collection and removal of target objects (i.e., blue spheres) from a partially enclosed arena. The vehicle uses phototactic responses to locate the targets, and it then moves to a goal location. The goal location is represented by an opening in one of the walls of the arena and is illuminated by a red light. Once at the goal location, the vehicle disposes of the target by pushing it through the opening. In addition to visual information, the vehicle’s behaviour is guided by both tactile and proprioceptive information. All aspects of the vehicle’s behaviour are controlled by an ACT-R model. The model receives sensory information from the virtual environment, reasons over this information, and then makes decisions regarding behavioural output.