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It is argued that cognitive development has to be understood in the functional perspective provided by actions. Actions reflect all aspects of cognitive development including the motives of the child, the problems to be solved, and the constraints and possibilities of the child's body and sensorimotor system. Actions are directed into the future and their control is based on knowledge of what is going to happen next. Such knowledge is available because events are governed by rules and regularities. The planning of actions also requires knowledge of the affordances of objects and events. An important aspect of cognitive development is about how the child acquires such knowledge.
Claes von Hofsten (Wed,) studied this question.