On-line direct physical interaction with Torobo

A study on the relation between cognitive and motor compliance, behavior emergence, and intentionality, from the free energy principle theory perspective. A PV-RNN model represents proprioceptive information, whereas motor behavior is based on joint space control from torque feed-back. This experiment has been conducted by Hendry Ferreira Chame and Jun Tani.

Spontaneous interactions between two robots

Humanoid Robot OP2 performs imitative interaction through learning. They shows spontaneous turn-taking and switching of movement patterns. This experiment has been conducted by Jungsk Hwang, Nadine Wirkuttis, and Jun Tani.

Predicting future and reflecting past in terms of visuo-proprioceptive patterns

A simulated humanoid robot experiment using a predictive-coding and active inference model for hierarchical and associative learning of visuo-proprioceptive sequential patterns. This experiment has been conducted by Jungsk Hwang.


A humanoid robot learns to acquire a set of primitive behaviors and their combinations. The robot experiment utilizes MTRNN model which is characterized by its composition of fast and slow dynamics parts.

Video Paper

iCub robot controlled by MTRNN

iCub robot is controlled by MTRNN. This was done by Martin Peniak at Univ. of Plymouth


sdr chaos 2

A humanoid robot spontaneously generates sequences of learned primitives. Chaos self-organized in the higher level of artificial brain (MTRNN model) generates pseudo stochastic sequences of moving an object among left, middle and right positions on a table.

Video Paper


Mental rehearsing and planning based on partially learned behavioral experiences. Visual stream image is generated for actually experienced ones as well as hallucinated ones.

Video Paper

Pathology of schizophrenia reconstructed in a humanoid robot

Robot picking up white cube

Pathology of schizophrenia (delusion of control) is reconstructed in a humanoid robot. The delusion of control is manifested under malfunction of top-down and bottom-up interactions in MTRNN.

Video Paper


A mobile robot with a hand learns to associate primitive sentences and corresponding behaviors with certain level of generalization. In the video, a robot, by recognizing a sentence “hit red”, generated the corresponding behavior. The robot was implemented with RNNPB model.

Video Paper