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RIKEN Information R&D and Strategy Headquarters Behavior Learning Research Team

Team Leader: Yutaka Nakamura (D.Eng.)

Research Summary

Yutaka Nakamura (D.Eng.)

In this team, we conduct research on learning function using reinforcement learning and/or deep neural network, motion generation methods for communicative robots, and control methods for autonomous robots.

Specifically, we will promote research related to the following four points.

  • Reinforcement learning of robots interacting with humans.
  • Automatic generation of human-like and natural motion of communicative robot based on human cognition.
  • Interactive robot operation mechanism through communication.
  • Autonomous robots operating in everyday environments.

Main Research Fields

  • Complex Systems

Related Research Fields

  • Engineering
  • Informatics
  • Interdisciplinary Science & Engineering
  • Intelligent robotics
  • Intelligent informatics
  • Soft computing


  • Reinforcement learning
  • Human robot interaction
  • Communicative robot
  • Motion generation
  • Intrinsic motivation

Selected Publications

Papers with an asterisk(*) are based on research conducted outside of RIKEN.

  • 1. *Yusuke Nishimura, Yutaka Nakamura, and HiroshiIshiguro.:
    "Human interaction behavior modeling using Generative Adversarial Networks"
    Neural Networks, 132, pp.521—531 (2020)
  • 2. *Mofei Li, Yutaka Nakamura, and Hiroshi Ishiguro.:
    "Choice modeling using dot-product attention mechanism"
    Artificial Life and Robotics (2020)
  • 3. *Huthaifa Ahmad, Yoshihiro Nakata, Yutaka Nakamura, Hiroshi Ishiguro.:
    "PedestriANS: a bipedal robot with adaptive morphology"
    Adaptive behavior (2020)
  • 4. *Ahmed Hussain Qureshi, Yutaka Nakamura, Yuichiro Yoshikawa, and Hiroshi Ishiguro.:
    "Intrinsically motivated reinforcement learning for human–robot interaction in the real-world"
    Neural Networks, 107, pp. 23—33 (2018)
  • 5. *Kenta Maeda, Yoshihiro Nakata, Yutaka Nakamura, Hiroshi Ishiguro.:
    "Effect of the cervical structure on the operability of teleoperated humanoid head"
    Artificial Life and Robotics, 22(4), pp 497-–502 (2017)
  • 6. *Yuya Okadome, Yutaka Nakamura, and Hiroshi Ishiguro.:
    "A confidence-based roadmap using Gaussian process regression"
    Autonomous Robots, 41(4) (2017)
  • 7. *Ahmed Qureshi, Yutaka Nakamura, Yuichiro Yoshikawa, Hiroshi Ishiguro.:
    "Show, Attend and Interact: Perceivable Human-Robot Social Interaction through Neural Attention Q-Network"
    2017 IEEE International Conference on Robotics and Automation (ICRA), pp.1639--1645 (2017)
  • 8. *Hideyuki RYU, Yoshihiro Nakata, Yutaka Nakamura, and Hiroshi Ishiguro.:
    "Adaptive Whole-body Dynamics: An Actuator Network System for Orchestrating Multi-joint Movements"
    IEEE Robotics & Automation Magazine, 23(3), pp.85—92 (2016)
  • 9. *Eri Takano, Takenobu Chikaraishi, Yoshio Matsumoto, Yutaka Nakamura, Hiroshi Ishiguro, and Kazuomi Sugamoto.:
    "Psychological effects on interpersonal communication by bystander android using motions based on human-like needs"
    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp.3721—3726 (2009)
  • 10. *Yutaka Nakamura, Takeshi Mori, Masa-aki Sato, and Shin Ishii.:
    "Reinforcement learning for a biped robot based on a CPG-actor-critic method"
    Neural Networks, 20(6), pp.723-735 (2007)

Lab Members

Principal investigator

Yutaka Nakamura
Team Leader

Core members

Huthaifa Abedallah Mohammad Ahmad
Research Scientist
Yuya Okadome
Research Scientist

Contact Information

3rd Floor, Advanced Telecommunications Research Institute International
2-2-2 Hikaridai Seika-cho, Sorakugun, Kyoto
619-0288 Japan (Kansai Science City)
Tel: +81-(0)774-95-1360
Email: yutaka.nakamura [at] riken.jp