Perception is an exploratory behaviour that relies heavily on the dynamic relationship between actions and sensory feedback. For any agent, whether animal or robotic, processing perceptual sensory input efficiently is crucial for understanding and interacting with its environment. The NPC Lab investigates how neuroisnpired perception and cognition models can facilitate the development of intelligent autonomous agents. In particular, we focus on the design of spiking neural networks (SNNs) that can process sensory data in real-time, enabling agents to adapt and respond to dynamic environments effectively.