Before revision:  The approach enables the robot to perform 1) dynamical body estimation of  arm using only raw monocular camera images and 2) autonomous reaching to "imagined" arm poses in the visual space.
After revision:  Our approach is validated by studying body perception and action in a simulated and a real Nao robot. Results show that our approach allows the robot to perform 1) dynamical body estimation of arm using only raw monocular camera images and 2) autonomous reaching to "imagined" arm poses in the visual space.