Context: The advent of a general artificial intelligence mechanism that learns like humans do would represent the realization of an old and major dream of science. It could be achieved by an artifact able to develop its own cognitive structures following constructivist principles. However, there is a large distance between the descriptions of the intelligence made by constructivist theories and the mechanisms that currently exist. Problem: The constructivist conception of intelligence is very powerful for explaining how cognitive development takes place. (...) However, until now, no computational model has successfully demonstrated the underlying mechanisms necessary to realize it. In other words, the artificial intelligence (AI) community has not been able to give rise to a system that convincingly implements the principles of intelligence as postulated by constructivism, and that is also capable of dealing with complex environments. Results: This paper presents the constructivist anticipatory learning mechanism (CALM), an agent learning mechanism based on the constructivist approach of AI. It is designed to deal dynamically and interactively with environments that are at the same time partially deterministic and partially observable. CALM can model the regularities experienced in the interaction with the environment, on the sensorimotor level as well, as by constructing abstract or high-level representational concepts. The created model provides the knowledge necessary to generate the agent behavior. The paper also presents the coupled agent environment system (CAES) meta-architecture, which defines a conception of an autonomous agent, situated in the environment, embodied and intrinsically motivated. Implications: The paper can be seen as a step towards a computational implementation of constructivist principles, on the one hand suggesting a further perspective of this refreshing movement on the AI field (which is still too steeped in a behaviorist influence and dominated by probabilistic models and narrow applied approaches), and on the other hand bringing some abstract descriptions of the cognitive process into a more concrete dimension, in the form of algorithms. Constructivist content: The connection of this paper with constructivism is the proposal of a computational and formally described mechanism that implements important aspects of the subjective process of knowledge construction based on key ideas proposed by constructivist theories. (shrink)