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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


Position Deadline
Seeking a Technical Staff I (W22072) Open until filled

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