Hierarchical Spatial Concept Formation Based on Multimodal Information for Human Support Robots. - Yoshinobu Hagiwara; Masakazu Inoue; Hiroyoshi Kobayashi; Tadahiro Taniguchi (Frontiers Neurorobotics, 2018)

Symbol Emergence as an Interpersonal Multimodal Categorization. - Yoshinobu Hagiwara; Hiroyoshi Kobayashi; Akira Taniguchi; Tadahiro Taniguchi (Frontiers Robotics AI, 2019)