Robot dexterity

I am working to try to improve my robots' dexterity* by increasing the number of sensors and actuators (degrees of freedom) they employ. 

* and to encourage a richer definition of concepts

Mathematical cognition for AI

As a part of natural language understanding (and symbol grounding) work I have given A.s.a. H. preprocessors that recognize numerals and simple shapes.* I do not yet know what curriculum (training sequence) is needed in order to give A.s.a. the concepts required for a "natural mathematical understanding." Just how such mathematical cognition develops in humans is not well understood. 

* A.s.a. also has had builtin translation, rotation, reflection, scaling, logic functions, and similarity measures. Is there more that needs to be builtin (innate)?