The present invention creates and stores target representations in several coordinate representations based on biologically inspired models of the human vision system. By using biologically inspired target representations a computer can be programmed for robot control without using kinematics to relate a target position in camera eyes to a target position in body or head coordinates. The robot sensors and appendages are open loop controlled to focus on the target. In addition, the invention herein teaches a scenario and method to learn the mappings between coordinate representations using existing machine learning techniques such as Locally Weighted Projection Regression.