“Toward Humanoid Robots Communicating with Humans” was the fourth and the last lecture on 12.16.2009. Statistical models of proto-symbols of motion and computational linguistics are beautifully connected and allow mutual association between motion and language. It is still a challenge and on-going research for the break-through of human-computer communication. The four lectures were an interim summary of research started in 1998 originally as the CREST project. I would like to thank to Prof. Alain Berthoz who provided me with an opportunity to prepare for it. Many thanks to students and colleagues at YNL and elsewhere who were and still are on board with me.