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In this paper, we present a barebones robot which is capable of interacting with humans based on social contingency. It expands the previous work of a contingency detector into having both human-model updating (developmental capability) and policy improvement (learning capability) based on the framework of Infomax Control. The proposed new controller interacts with humans in both active and responsive ways handling the turn-taking between them.doi:10.1109/roman.2008.4600639 dblp:conf/ro-man/TanakaM08 fatcat:vidff7m4mrbhnaos3qljwvqtuu