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This paper introduces our approach to building a robot with communicationcapability based on the two key features: stochastic neural dynamics andprediction error minimization (PEM). A preliminary experiment with humanoidrobots showed that the robot was able to imitate other's action by means ofthose key features. In addition, we found that some sorts of communicativepatterns emerged between two robots in which the robots inferred the intentionof another agent behind the sensory observation.

A Neurorobotics Approach to Investigating the Emergence of Communication in Robots