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Imitation is of particular importance in enabling robotic or software agents to share skills without the intervention of a programmer and in the more general context of interaction and collaboration between software agents and humans. Imitation provides a way for the agent—-whether biological or artificial--to establish a “social relationship” and learn about the demonstrator’s actions, in order to include them in its own behavioral repertoire. Building robots and software agents that can imitate other artificial or human agents in an appropriate way involves complex problems of perception, experience, context, and action, solved in nature in various ways by animals that imitate.