We have started a new bilateral collaboration project with ATR Computational Neuroscience Laboratories, Department of Brain Robot Interface, funded by the Japan Society for the Promotion of Science and Slovenian Research Agency. The title of the project is “Accelerated development of autonomous behaviors for humanoid robots”. In this project we will develop a humanoid robot learning system, which combines - in a dynamical way - exploration based learning and imitation learning with the generative use of the acquired knowledge. The proposed project aims at developing new and essential technologies for general-purpose domestic robots, which is an emerging market for robot technologies.