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Users of Meta's platforms, which include Instagram, Facebook and WhatsApp, can create and customize such bots using the company's generative artificial intelligence, AI Studio.
The AGU said in a statement that Meta must "immediately" remove "artificial intelligence robots that simulate profiles with childlike language and appearance and are allowed to engage in explicit dialogue."
The document cited several examples of inappropriate conversations with bots pretending to be minors.
The AGU's request does not include sanctions, but the agency said it had reminded Meta that online platforms in Brazil must take down illicit content created by their users, even without a court order.
In June, Brazil's Supreme Court voted to require tech companies to assume greater responsibility for user-generated content.