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Steels, L. and Kaplan, F. (1999) Situated grounded word semantics. In Dean, T., editor, IJCAI99. Morgan Kaufmann Publishers.

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Vogt, The emergence of compositional structures in perceptually grounded language games, 2005 :: 8
Walshe, The Origin of the Speeches: language evolution through collaborative reinforcement learning, 2001 :: 1

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