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This paper proposes a model that enables a robot to predict and imitate the motions of another by reusing its body forward-inverse model. Our model includes three approaches: (i) projection of a self-forward model for predicting phenomena in the external environment (other individuals), (ii) "triadic relation" that is mediation by a physical object between self and others, (iii) introduction of infant imitation by a parent. The Recurrent Neural Network with Parametric Bias (RNNPB) model is useddoi:10.1109/robot.2009.5152363 dblp:conf/icra/OgataYTKO09 fatcat:ur6omtthvnbplggyn5h4x2sovq