Journal Papers
  1. Xiaoxu Feng, Takato Horii. “Distance-Aware World Model-based Reinforcement Learning for Mobile Manipulation Behaviors”. IEEE Access, Early Access, 2026.
  2. Seiichi Yamamoto, Hiroki Ishizuka, Takumi Kawasetsu, Koh Hosoda, Takayuki Kameoka, Kango Yanagida, Takato Horii, Yusuke Sakaue, Sei Ikeda, Osamu Oshiro. “External Photoreflective Tactile Sensing Based on Surface Deformation Measurement”. IEEE Sensors Journal, Early Access, 2026.
  3. Siddharth Padmanabhan, Kazuki Miyazawa, Takato Horii. “LocoGPT: GPT-Based Multi-Humanoid-Task Policy for Humanoid Locomotion”. IEEE Access, Vol. 14, 2026.
  4. Hu Site, Takayuki Nagai, Takato Horii. “TARAD: Task-Aware Robot Affordance-Centric Diffusion Policy Learned From LLM-Generated Demonstrations”. IEEE Robotics and Automation Letters, August 2025.
  5. Tatsuya Daikoku, Takato Horii, Shigeto Yamawaki. “Body Maps of Sound Pitch and Relevant Individual Differences in Alexithymic Trait and Depressive State”. BMC Psychology, 13(1): 547, 2025.
  6. Haruka Asanuma, Naoko Koide-Majima, Ken Nakamura, Takato Horii, Shinji Nishimoto, Masafumi Oizumi. “Correspondence of High-Dimensional Emotion Structures Elicited from Video Clips between Humans and Multimodal LLMs”. Scientific Reports, 15(1): 32175, 2025.
  7. Tadahiro Taniguchi, Masafumi Oizumi, Noburo Saji, Takato Horii, Naotsugu Tsuchiya. “Constructive Approach to Bidirectional Influence between Qualia Structure and Language Emergence”. Philosophy and the Mind Sciences, Vol. 6, 2025.
  8. Tadahiro Taniguchi, Yasushi Hirai, Masahiro Suzuki, Shingo Murata, Takato Horii, Kazutoshi Tanaka. “System 0/1/2/3: Quad-Process Theory for Multi-Timescale Embodied Collective Cognitive Systems”. Artificial Life, 31(4), 465-496, 2025.
  9. Naomi Imasato, Kazuki Miyazawa, Takayuki Nagai, Takato Horii. “Creative Agents: Simulating the Systems Model of Creativity with Generative Agents”. IEEE Access, Vol. 13, 2025.
  10. Siddharth Padmanabhan, Kazuki Miyazawa, Takato Horii, Takayuki Nagai. “Data-Efficient Approach to Humanoid Control by Fine-Tuning a Pre-Trained GPT on Action Data”. IEEE Access, Vol. 13, 2025.
  11. Gabriel Peixoto De Carvalho, Tetsuya Sawanobori, Takato Horii. “Data-Driven Motion Planning: A Survey on Deep Neural Networks, Reinforcement Learning, and Large Language Model Approaches”. IEEE Access, Vol. 13, 2025.
  12. Xiaoxu Feng, Takato Horii, Takayuki Nagai. “Predictive Reachability for Embodiment Selection in Mobile Manipulation Behaviors”. IEEE Robotics and Automation Letters, February 2025.
  13. Kazuma Obata, Tatsuya Aoki, Takato Horii, Tadahiro Taniguchi, Takayuki Nagai. “LiP-LLM: Integrating Linear Programming and Dependency Graph with Large Language Models for Multi-Robot Task Planning”. IEEE Robotics and Automation Letters, 10(2), 1122-1129, December 2024.
  14. Site Hu, Takato Horii, Takayuki Nagai. “Adaptive and Transparent Decision-Making in Autonomous Robots through Graph-Structured World Models”. Advanced Robotics, 38(22), 1579-1599, 2024.
  15. Yuki Hashimoto, Hiroki Ishizuka, Takumi Kawasetsu, Takato Horii, Sei Ikeda, Osamu Oshiro. “Selective Voltage Application to Connected Loads Using Soft Matter Computer Based on Conductive Droplet Interval Design”. IEEE Robotics and Automation Letters, 8(3), 1747-1754, March 2023.
  16. Masahiro Kawakami, Masaru Kojima, Yuma Masuda, Yasushi Mae, Takato Horii, Takayuki Nagai, Masaki Nakahata, Shinji Sakai, Tatsuo Arai. “Automated Microhand System for Measuring Cell Stiffness by Using Two Plate End-Effectors”. IEEE Robotics and Automation Letters, 7(1), 2385-2390, April 2022.
  17. Takato Horii, Yukie Nagai. “Active Inference through Energy Minimization in Multimodal Affective Human-Robot Interaction”. Frontiers in Robotics and AI, 2021.
  18. Taiga Sano, Takato Horii, Kasumi Abe, Takayuki Nagai. “Temperament Estimation of Toddlers from Child-Robot Interaction with Explainable Artificial Intelligence”. Advanced Robotics, 35(17), 1068-1077, 2021.
  19. Tatsuya Sakai, Kazuki Miyazawa, Takato Horii, Takayuki Nagai. “A Framework of Explanation Generation toward Reliable Autonomous Robots”. Advanced Robotics, 35(17), 1054-1067, 2021.
  20. Shota Hamaguchi, Takumi Kawasetsu, Takato Horii, Hisashi Ishihara, Ryuma Niiyama, Koh Hosoda, Minoru Asada. “Soft Inductive Tactile Sensor Using Flow-Channel Enclosing Liquid Metal”. IEEE Robotics and Automation Letters, 5(3), 4028-4034, April 2020.
  21. Akihiro Eguchi, Takato Horii, Takayuki Nagai, Ryota Kanai, Masafumi Oizumi. “An Information-Theoretic Approach to Reveal the Formation of Shared Representation”. Frontiers in Computational Neuroscience, 2020.
  22. Tadahiro Taniguchi, Tomoaki Nakamura, Masahiro Suzuki, Ryo Kuniyoshi, Kaede Hayashi, Akira Tahiguchi, Takato Horii, Takayuki Nagai. “Neuro-SERKET: Development of Integrative Cognitive System through the Composition of Deep Probabilistic Generative Models”. New Generation Computing, January 2020.
  23. Kazuki Miyazawa, Takato Horii, Tatsuya Aoki, Takayuki Nagai. “Integrated Cognitive Architecture for Robot Learning of Action and Language”. Frontiers in Robotics and AI, November 2019.
  24. Takato Horii, Yukie Nagai, Minoru Asada. “Modeling Emotional Development Guided by Tactile Dominance and Perceptual Improvement during Infancy”. IEEE Transactions on Cognitive and Developmental Systems, 10(3), 762-775, September 2018.
  25. Takumi Kawasetsu, Takato Horii, Hisashi Ishihara, Minoru Asada. “Flexible Tri-Axis Tactile Sensor Using Spiral Inductor and Magnetorheological Elastomer”. IEEE Sensors Journal, 18(14), 5834-5841, June 2018.
  26. Takumi Kawasetsu, Takato Horii, Hisashi Ishihara, Minoru Asada. “Mexican-Hat-Like Response in a Flexible Tactile Sensor Using a Magnetorheological Elastomer”. Sensors, 18(2), 587, February 2018.
  27. Takato Horii, Yukie Nagai, Minoru Asada. “Imitation of Human Expressions Based on Emotion Estimation by Mental Simulation”. Paladyn, Journal of Behavioral Robotics, 7(1), 40-54, December 2016.
  28. Nobutsuna Endo, Tomohiro Kojima, Yuki Sasamoto, Hisashi Ishihara, Takato Horii, Minoru Asada. “Design of an Articulation Mechanism for an Infant-like Vocal Robot ‘Lingua’”. Biomimetic and Biohybrid Systems – Living Machines 2014, LNCS vol. 8608, 389-391, July 2014.
  29. Yuji Kawai, Jihoon Park, Takato Horii, Yuji Oshima, Kazuaki Tanaka, Hiroki Mori, Yukie Nagai, Takashi Takuma, Minoru Asada. “Throwing Skill Optimization through Synchronization and Desynchronization of Degree of Freedom”. RoboCup 2012: Robot Soccer World Cup XVI, LNCS vol. 7500, 178-189, November 2013.
Books
  1. Tadahiro Taniguchi (Ed.). Symbol Emergence Systems: An Interdisciplinary Discussion about Cognition, Language and Society. Springer Singapore, 2026. DOI: 10.1007/978-981-95-1327-7. Contributed chapters by Takato Horii: Chapter III-3 “Curiosity and Exploration: Why Do We Want to Learn?” (pp. 91–96); Chapter III-4 “Emotion and Predictive Processing: How Are Emotions Made?” (pp. 97–103).
Invited Talks
  1. Takato Horii. “Emotion as Emergent Symbols from Physical and Social Interactions”. Eighth International Workshop on Symbolic-Neural Learning (SNL2024), 2024.
  2. Takato Horii. “How Are Emotional Structures Formed? — A Computational Approach Toward the Understanding of Emotional Qualia”. Area Meeting on Correspondence between Qualia Structures and Information Structures from Brain Activity, 2022.
  3. Takato Horii. “Towards Retroduction Agent: Prediction and Representation Learning in Embodied Intelligence”. Workshop on Trends and Advances in Integrating Machine Learning and Automated Reasoning for Intelligent Robots and Systems, IROS 2022, 2022.
  4. Takato Horii. “Towards Co-Creation of Game in HRI — An Example of Creative Model through Physical Interaction”. Workshop on Socialware in Human-Robot Collaboration and Physical Interaction, RO-MAN 2020, 2020.
International Conferences
  1. Site Hu, Takayuki Nagai, Takato Horii. “TARAD: Task-Aware Robot Affordance-Centric Diffusion Policy Learned From LLM-Generated Demonstrations”. 2026 IEEE International Conference on Robotics & Automation (ICRA), 2026.
  2. Xiaoxu Feng, Takato Horii, Takayuki Nagai. “Predictive Reachability for Embodiment Selection in Mobile Manipulation Behaviors”. 2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2025.
  3. Kazuya Horibe, Takato Horii, Keisuke Suzuki. “Collective Phase Dynamics in an Active Inference Swarm Oscillator”. Proceedings of the ALIFE 2025: Ciphers of Life, Kyoto, October 2025. DOI: 10.1162/ISAL.a.902.
  4. Futa Hidaka, Naomi Imasato, Kazuki Miyazawa, Takato Horii. “Cultural Drift in AI Music: Co-Evolution of Generative Strategies and Evaluative Preferences”. 2025 IEEE International Conference on Development and Learning (ICDL), September 2025.
  5. Kentaro Nomura, Tatsuya Aoki, Tadahiro Taniguchi, Takato Horii. “Decentralized Collective World Model for Emergent Communication and Coordination”. 2025 IEEE International Conference on Development and Learning (ICDL), September 2025.
  6. Lotfi El Hafi, Kazuma Onishi, Shoichi Hasegawa, Akira Oyama, Tomochika Ishikawa, Masashi Osada, Carl Tornberg, Ryoma Kado, Kento Murata, Saki Hashimoto, Sebastian Carrera Villalobos, Akira Taniguchi, Gustavo Alfonso Garcia Ricardez, Yoshinobu Hagiwara, Tatsuya Aoki, Kensuke Iwata, Takato Horii, Yukiko Horikawa, Takahiro Miyashita, Tadahiro Taniguchi, Hiroshi Ishiguro. “Public Evaluation on Potential Social Impacts of Fully Autonomous Cybernetic Avatars for Physical Support in Daily-Life Environments: Large-Scale Demonstration and Survey at Avatar Land”. 2025 IEEE International Conference on Advanced Robotics and its Social Impacts (ARSO), Osaka, 2025.
  7. Mayu Omichi, Hideyuki Takahashi, Midori Ban, Yuichiro Yoshikawa, Hiroshi Ishiguro, Hiroki Ishizuka, Takato Horii, Takayuki Kikuchi, Minoru Tomoda, Kazuki Shimasaki, Yoshihisa Toshima. “Development and Preliminary Validation of an Empathetic and Explaining Robot Interface for Proactive Indoor Environment Control”. International Conference on Social Robotics + AI (ICSR+AI), 516–543, 2025.
  8. Tomoka Muraoka, Tatsuya Aoki, Masayuki Hirata, Tadahiro Taniguchi, Takato Horii, Takayuki Nagai. “Goal Estimation-Based Adaptive Shared Control for Brain-Machine Interfaces in Remote Robot Navigation”. 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024.
  9. Naomi Imasato, Kazuki Miyazawa, Takayuki Nagai, Takato Horii. “[LBA] Towards Emergence of Human Creativity in silico: Simulation of the Systems Model of Creativity Using Generative AI”. 2024 Conference on Artificial Life (ALIFE), 2024.
  10. Kazuya Horibe, Keisuke Suzuki, Takato Horii, Hiroshi Ishiguro. “Exploring the Adaptive Behaviors of Particle Lenia: A Perturbation-Response Analysis for Computational Agency”. Artificial Life Conference Proceedings 35, 2023.
  11. Taiga Sano, Takato Horii, Kasumi Abe, Takayuki Nagai. “Explainable Temperament Estimation of Toddlers by a Childcare Robot”. 29th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN), August 2020.
  12. Kohei Fukuda, Takumi Kawasetsu, Hisashi Ishihara, Takato Horii, Ryoichi Nakamura, Hiroshi Kawahira, Minoru Asada. “Measurement of Three-Dimensional Force Applied to Elastic Suture Training Pads for Laparoscopic Suturing”. 41st Annual International Conference of the IEEE EMBC, June 2019.
  13. Kazuki Miyazawa, Tatsuya Aoki, Takato Horii, Tomoaki Nakamura, Takayuki Nagai. “Online Language Learning by Integrated Cognitive Architecture”. ALIFE 2018 Workshop on the Emergence and Evolution of Social Learning, Communication, Language and Culture in Natural and Artificial Agents, July 2018.
  14. Kensuke Iwata, Tatsuya Aoki, Takato Horii, Tomoaki Nakamura, Takayuki Nagai. “Learning and Generation of Actions from Teleoperation for Domestic Service Robots”. IEEE/RSJ IROS, October 2018.
  15. Chie Hieida, Takato Horii, Takayuki Nagai. “Toward Empathic Communication: Emotion Differentiation via Face-to-Face Interaction in Generative Model of Emotion”. 8th Joint IEEE ICDL-EpiRob, September 2018.
  16. Chie Hieida, Takato Horii, Takayuki Nagai. “Emotion Differentiation Based on Decision-Making in Emotion Model”. IEEE RO-MAN, August 2018.
  17. Chie Hieida, Takato Horii, Takayuki Nagai. “Decision-Making in Emotion Model”. 13th Annual ACM/IEEE International Conference on Human-Robot Interaction, March 2018.
  18. Takato Horii, Yukie Nagai, Minoru Asada. “Active Perception Based on Energy Minimization in Multimodal Human-Robot Interaction”. 5th International Conference on Human-Agent Interaction, October 2017. (Best Student Paper Award)
  19. Takumi Kawasetsu, Takato Horii, Hisashi Ishihara, Minoru Asada. “Towards Rich Representation Learning in a Tactile Domain: A Flexible Tactile Sensor Providing a Vision-Like Feature Based on the Dual Inductor”. HAI 2017 Workshop on Representation Learning for Human and Robot Cognition, October 2017.
  20. Niyati Rawal, Takato Horii, Yukie Nagai. “How Does Visual Attention to Face Develop in Infancy?: A Computational Account”. HAI 2017 Workshop on Representation Learning for Human and Robot Cognition, October 2017.
  21. Takumi Kawasetsu, Takato Horii, Hisashi Ishihara, Minoru Asada. “Size Dependency in Spatial Response Property of Elastomeric Tactile Sensor Laminated on Inductor Coil”. IEEE Sensors Conference, October 2017.
  22. Takumi Kawasetsu, Takato Horii, Hisashi Ishihara, Minoru Asada. “Magnetorheological Elastomer-Gel Tactile Sensor with an Electromagnet”. ICRA 2017 Workshop on The Robotic Sense of Touch, May 2017.
  23. Takumi Kawasetsu, Takato Horii, Hisashi Ishihara, Minoru Asada. “Object Classification with Magnetorheological Elastomer-Gel Tactile Sensor that Shows Difference-of-Gaussian-Like Spatial Response”. Humanoids 2016 Workshop on Tactile Sensing for Manipulation, November 2016.
  24. Takumi Kawasetsu, Takato Horii, Hisashi Ishihara, Minoru Asada. “Towards Rich Physical Human-Robot Interaction: A Novel Magnetic-Type Flexible Tactile Sensor that Detects Its Surface Deformation”. ICRA 2016 Workshop on Human-Robot Interfaces for Enhanced Physical Interactions, May 2016.
  25. Takato Horii, Yukie Nagai, Minoru Asada. “Emotion Recognition and Generation through Multimodal Restricted Boltzmann Machines”. IROS 2015 Workshop on Grounding Robot Autonomy, October 2015.
  26. Takato Horii, Yukie Nagai, Lorenzo Natale, Francesco Giovannini, Giorgio Metta, Minoru Asada. “Compensation for Tactile Hysteresis Using Gaussian Process with Sensory Markov Property”. IEEE-RAS Humanoid Robots, November 2014.
  27. Nobutsuna Endo, Tomohiro Kojima, Hisashi Ishihara, Takato Horii, Minoru Asada. “Design and Preliminary Evaluation of the Vocal Cords and Articulator of an Infant-like Vocal Robot ‘Lingua’”. IEEE-RAS Humanoid Robots, November 2014.
  28. Hideyuki Takahashi, Nobutsuna Endo, Hiroki Yokoyama, Takato Horii, Tomoyo Morita, Minoru Asada. “How Does Empathic Emotion Emerge via Human-Robot Rhythmic Interaction?”. 2nd International Conference on Human-Agent Interaction, October 2014.
  29. Takato Horii, Francesco Giovannini, Yukie Nagai, Lorenzo Natale, Giorgio Metta, Minoru Asada. “Contact Force Estimation from Flexible Tactile Sensor Values Considering Hysteresis by Gaussian Process”. 4th IEEE ICDL-EpiRob, October 2014.
  30. Takato Horii, Yukie Nagai, Minoru Asada. “Toward Analysis of Emotional Development Using Physiological and Behavioral Data”. 9th ACM/IEEE HRI Workshop on HRI: A Bridge between Robotics and Neuroscience, March 2014.
  31. Takato Horii, Yukie Nagai, Minoru Asada. “Touch and Emotion: Modeling of Developmental Differentiation of Emotion Led by Tactile Dominance”. 3rd IEEE ICDL-EpiRob, August 2013.
  32. Yuji Kawai, Jihoon Park, Takato Horii, Yuji Oshima, Kazuaki Tanaka, Hiroki Mori, Takashi Takuma, Minoru Asada, Yukie Nagai. “Throwing Skill Optimization through Synchronization and Desynchronization of Degree of Freedom”. RoboCup Symposium 2012, Mexico, June 2012.
  33. Kazuki Miyazawa, Takato Horii, Tatsuya Aoki, Takayuki Nagai. “Integration of Multiple Probabilistic Generative Models for Robot Learning”. 2nd International Symposium on Symbiotic Intelligent System, January 2020.
  34. Tatsuya Aoki, Takato Horii, Takayuki Nagai. “Towards Continuous Robot Learning in a Real Environment: Probabilistic Generative Model Based on Nonparametric Bayes and Auto-Encoding Variational Inference”. 2nd International Symposium on Symbiotic Intelligent System, January 2020.
  35. Takato Horii, Yukie Nagai. “Attention Control Based on Free-Energy Minimization in Multimodal Interaction with Familiar Friends”. 1st International Symposium on Symbiotic Intelligent Systems, Osaka, January 2019.
  36. Kyoichiro Kobayashi, Takato Horii, Ryo Iwaki, Yukie Nagai, Minoru Asada. “Situated GAIL: Multi-Task Imitation Using Latent Conditioned Adversarial Inverse Reinforcement Learning”. 1st International Symposium on Symbiotic Intelligent Systems, Osaka, January 2019.
  37. Takato Horii, Yukie Nagai, Minoru Asada. “Ancestral Sampling Based on Energy Minimization in Multimodal DBN for Accurate Emotion Estimation from Ambiguous Human Expressions”. 3rd International Symposium on Cognitive Neuroscience Robotics, Osaka, December 2016.
  38. Takumi Kawasetsu, Takato Horii, Hisashi Ishihara, Minoru Asada. “A Magnetic-Type Tactile Sensor That Detects Deformation of Its Surface Made of Dual Layer Elastomer”. Workshop “From Robotics to Cognitive Interaction and Beyond”, Bielefeld, March 2016.
  39. Takato Horii, Yukie Nagai, Minoru Asada. “Emotional Human-Robot Interaction via Multimodal Deep Belief Network”. Workshop “From Robotics to Cognitive Interaction and Beyond”, Bielefeld, March 2016.
  40. Takato Horii, Yukie Nagai, Minoru Asada. “Emotional Human-Robot Interaction through Multimodal Restricted Boltzmann Machines”. 2nd International Workshop on Cognitive Neuroscience Robotics, Osaka, February 2016.
  41. Takato Horii, Yukie Nagai, Minoru Asada. “Emotion Recognition and Generation through Multimodal Restricted Boltzmann Machines”. International Workshop on Cognitive Development for Friendly Robots and Rehabilitation, Genoa, December 2015.
  42. Takato Horii, Yukie Nagai, Minoru Asada. “A Probabilistic Approach to Analyze Temporal Change of Emotion”. International Conference on Infant Studies 2014 Pre-Conference on Computational Models of Infant Development, Berlin, July 2014.
  43. Kiril Kiryazov, Vikram Narayan, Christian Becker-Asano, Giorgio Metta, Robert Lowe, Tom Ziemke, Takato Horii, Hector Barron. “Multimodal Emotion Recognition and Behaviour Modulation via Appraisal Model of Affect with iCub Robot”. EUCogIII Conference, Denmark, August 2012.