The objective of this project is to understand the bidirectional link between the minimal self and sensorimotor as well as cognitive skills from a developmental embodied cognition perspective. By integrating cognitive, developmental and movement science, we tackle one of the ultimate goals of the SPP call by exploring how core mechanisms (i.e., internal models, reafferences) generate a self in the course of ontogenetic development (i.e., across the lifespan) or the acquisition of expertise (i.e., training sensorimotor and cognitive skills).