We present experiments in which a population of situated autonomous cognitive agents learns by means of “language games” a common lexicon of symbols that designates basic motions (translation, rotation) in a 2D world. We study the quality of the lexicon learnt when we give ours agents a cognitive functionality akin to working memory, and we explain how they are able to agree on a set of common names for basic actions, if their world representation is built using sensorimotor contingencies informations.
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