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Steels, L. and Kaplan, F. (2001) AIBO's first words: The social learning of language and meaning. Evolution of Communication, 4(1):3--32.

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Vogt, Language evolution and robotics: Issues in symbol grounding and language acquisition, 2006 :: 5
Wellens, Coping with Combinatorial Uncertainty in Word Learning: A Flexible Usage-Based Model, 2008 :: 2

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