  This paper introduces our approach to building a robot with communication
capability based on the two key features: stochastic neural dynamics and
prediction error minimization (PEM). A preliminary experiment with humanoid
robots showed that the robot was able to imitate other's action by means of
those key features. In addition, we found that some sorts of communicative
patterns emerged between two robots in which the robots inferred the intention
of another agent behind the sensory observation.
