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We present a model of imitative vocal learning consisting of two stages. First, the infant is exposed to the ambient language and forms auditory knowledge of the speech items to be acquired. Second, the infant attempts to imitate these speech items and thereby learns to control the articulators for speech production. We model these processes using a recurrent neural network and a realistic vocal tract model. We show that vowel production can be successfully learnt by imitation. Moreover, wedoi:10.1109/devlrn.2015.7346142 dblp:conf/icdl-epirob/MurakamiKBT15 fatcat:nu5vxg4rmjadbmnema3jhd67xi