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Oates, T., Eyler-Walker, Z., and Cohen, P. R. (1999) Using Syntax to Learn Semantics: An Experiment in Language Acquisition with a Mobile Robot. Technical report, Computer Science Department, University of Massachusetts at Amherst.

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de Jong, Autonomous Formation of Concepts and Communication, 2000 :: 10
Van Looveren, Robotic Experiments on the Emergence of a Lexicon, 2001 :: 3
Vogt, Lexicon Grounding on Mobile Robots, 2000 :: 13