This study investigates the acquisition of integrated object manipulation and categorization abilities through a series of experiments in which human adults and artificial agents were asked to learn to manipulate two-dimensional objects that varied in shape, color, weight, and color intensity. The analysis of the obtained results and the comparison of the behavior displayed by human and artificial agents allowed us to identify the key role played by features affecting the agent/environment interaction, the relation between category and action development, and the role of cognitive biases originating from previous knowledge.