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This video presents a biologically inspired approach to multimodal integration and decision-making in the context of human-robot interactions. We address here the principle of ideomotor compatibility by which observing the movements of others influences the quality of one's own performance. A neural model capable of replicating a stimulus-response compatibility task, originally designed to measure the effect of ideomotor compatibility on human behavior, was implemented on a humanoid robot. The video illustrates that this capacity may provide a robot with human-like behavior, but at the expense of disadvantages, such as hesitation and mistakes. First a demonstration of the stimulus-response task involving human experimenter and subject is shown. It is then followed by the replication of the experiment with the robot.