While current robotic systems are getting closer to repeating a carefully-coded set of actions, they are still far from human’s versatility and adaptivity. Cognitive Robotics Systems (CRS) need to reach a level of cognition that will allow them to understand and effectively operate in household and industrial environments, interact with humans, and adapt their actions to an ever growing range of situations. They are expected to be able to predict the perceptual changes that result as a consequence of human actions and replicate human activities, taking into consideration their