How does bottom-up information affect the development of top-down attentional control skills during the learning of visuomotor tasks? Why is the eye fovea so small? Strong evidence supports the idea that in humans foveation is mainly guided by task-specific skills, but how these are learned is still an important open problem. We designed and implemented a simulated neural eye-arm coordination model to study the development of attention control in a search-and-reach task involving simple coloured stimuli. The model is endowed with a hard-wired bottom-up attention saliency map and a top-down attention component which acquires task-specific knowledge on potential gaze targets and their spatial relations. This architecture achieves high performance very fast. To explain this result, we argue that: (a) the interaction between bottom-up and top-down mechanisms supports the development of task-specific attention control skills by allowing an efficient exploration of potentially useful gaze targets; (b) bottom-up mechanisms boast the exploitation of the initial limited task-specific knowledge by actively selecting areas where it can be suitably applied; (c) bottom-up processes shape objects representation, their value, and their roles (these can change during learning, e.g. distractors can become useful attentional cues); (d) increasing the size of the fovea alleviates perceptual aliasing, but at the same time increases input processing costs and the number of trials required to learn. Overall, the results indicate that bottom-up attention mechanisms can play a relevant role in attention control, especially during the acquisition of new task-specific skills, but also during task performance.