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Depending on the circumstances, they copy both actions and their effects or only reproduce the demonstrator\u2019s intended goals. In view of this selective imitation, infants have been called rational imitators. The ability to selectively and adaptively imitate behaviour would be a beneficial capacity for robots. Indeed, selecting what to imitate is an outstanding unsolved problem in the field of robotic imitation. In this paper, we first present a formalized model of rational imitation suited for robotic applications. Next, we test and demonstrate it using two humanoid robots. <\/jats:p>","DOI":"10.1177\/1059712317702950","type":"journal-article","created":{"date-parts":[[2017,4,24]],"date-time":"2017-04-24T09:57:06Z","timestamp":1493027826000},"page":"60-71","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":7,"title":["Rational imitation for robots: the cost difference model"],"prefix":"10.1177","volume":"25","author":[{"given":"Dieter","family":"Vanderelst","sequence":"first","affiliation":[{"name":"Center for Cognition, Action, & Perception, University of Cincinnati, USA"}]},{"given":"Alan","family":"Winfield","sequence":"additional","affiliation":[{"name":"Bristol Robotics Lab, Faculty of Environment and Technology, University of the West of England, UK"}]}],"member":"179","published-online":{"date-parts":[[2017,4,24]]},"reference":[{"key":"bibr1-1059712317702950","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2008.10.024"},{"key":"bibr2-1059712317702950","doi-asserted-by":"publisher","DOI":"10.1111\/1467-8624.00310"},{"key":"bibr3-1059712317702950","doi-asserted-by":"publisher","DOI":"10.1371\/journal.pone.0032563"},{"key":"bibr4-1059712317702950","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-540-30301-5_60"},{"key":"bibr5-1059712317702950","doi-asserted-by":"publisher","DOI":"10.1016\/S1364-6613(02)02016-8"},{"key":"bibr6-1059712317702950","doi-asserted-by":"publisher","DOI":"10.1111\/j.1467-7687.2007.00630.x"},{"key":"bibr7-1059712317702950","first-page":"135","volume-title":"Imitation and social learning in robots, humans and animals: behavioural, social and communicative dimensions","author":"Carpenter M.","year":"2006"},{"key":"bibr8-1059712317702950","doi-asserted-by":"publisher","DOI":"10.1111\/j.1467-7687.2004.00385.x"},{"key":"bibr9-1059712317702950","doi-asserted-by":"publisher","DOI":"10.1111\/1467-9280.24421"},{"key":"bibr10-1059712317702950","doi-asserted-by":"publisher","DOI":"10.7551\/mitpress\/3676.003.0015"},{"key":"bibr11-1059712317702950","doi-asserted-by":"publisher","DOI":"10.1177\/1059712313500503"},{"key":"bibr12-1059712317702950","doi-asserted-by":"publisher","DOI":"10.3389\/fnins.2014.00058"},{"key":"bibr13-1059712317702950","doi-asserted-by":"publisher","DOI":"10.1017\/CBO9780511489969.011"},{"key":"bibr14-1059712317702950","doi-asserted-by":"publisher","DOI":"10.1155\/2017\/8080649"},{"key":"bibr15-1059712317702950","doi-asserted-by":"publisher","DOI":"10.1080\/09540090310001684604"},{"key":"bibr16-1059712317702950","doi-asserted-by":"publisher","DOI":"10.1038\/415755a"},{"key":"bibr17-1059712317702950","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-013-9346-z"},{"key":"bibr18-1059712317702950","doi-asserted-by":"publisher","DOI":"10.1016\/S1364-6613(02)01913-7"},{"key":"bibr19-1059712317702950","doi-asserted-by":"publisher","DOI":"10.1016\/j.brainres.2011.06.026"},{"key":"bibr20-1059712317702950","doi-asserted-by":"publisher","DOI":"10.1098\/rstb.2009.0045"},{"key":"bibr21-1059712317702950","doi-asserted-by":"publisher","DOI":"10.1016\/j.jecp.2013.07.002"},{"key":"bibr22-1059712317702950","doi-asserted-by":"publisher","DOI":"10.1016\/j.jecp.2014.01.016"},{"key":"bibr23-1059712317702950","doi-asserted-by":"publisher","DOI":"10.3758\/BF03196002"},{"key":"bibr24-1059712317702950","doi-asserted-by":"publisher","DOI":"10.1016\/j.tics.2015.08.005"},{"key":"bibr25-1059712317702950","doi-asserted-by":"publisher","DOI":"10.1016\/j.cognition.2016.12.007"},{"key":"bibr26-1059712317702950","doi-asserted-by":"publisher","DOI":"10.1073\/pnas.0704452104"},{"key":"bibr27-1059712317702950","doi-asserted-by":"publisher","DOI":"10.1037\/0012-1649.24.4.470"},{"key":"bibr28-1059712317702950","doi-asserted-by":"publisher","DOI":"10.1017\/CBO9780511489808.004"},{"key":"bibr29-1059712317702950","doi-asserted-by":"publisher","DOI":"10.1080\/019697201300001803"},{"key":"bibr30-1059712317702950","doi-asserted-by":"publisher","DOI":"10.1016\/j.jecp.2012.10.009"},{"key":"bibr31-1059712317702950","doi-asserted-by":"publisher","DOI":"10.1111\/j.1467-8624.2011.01610.x"},{"key":"bibr32-1059712317702950","doi-asserted-by":"publisher","DOI":"10.1016\/j.infbeh.2011.01.006"},{"key":"bibr33-1059712317702950","doi-asserted-by":"publisher","DOI":"10.1016\/j.cub.2007.04.026"},{"key":"bibr34-1059712317702950","doi-asserted-by":"publisher","DOI":"10.1023\/A:1013298507114"},{"key":"bibr35-1059712317702950","doi-asserted-by":"publisher","DOI":"10.1098\/rstb.2002.1258"},{"key":"bibr36-1059712317702950","first-page":"11","volume":"2008","author":"Schult D. 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