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We are interested in understanding how babies learn to recognize facial expressions without having a teaching signal allowing to associate a facial expression to a given abstract label (i.e the name of the facial expression 'sadness', 'happiness'...). Our starting point was a mathematical model showing that if the baby uses a sensory motor architecture for the recognition of the facial expression then the parents must imitate the baby facial expression to allow the on-line learning. In thisdoi:10.1109/iros.2010.5650357 dblp:conf/iros/BoucennaGAH10 fatcat:aly6inskmjbajgcdip4th22fsm