@article{resonatingmindsemergentcollaboration,
  title = {Resonating Minds -- Emergent Collaboration Through Hierarchical Active Inference},
  author = {Jan Pöppel and Sebastian Kahl and Stefan Kopp},
  year = {2021},
  eprint = {2112.01210},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2112.01210v1},
}