There is a growing body of research on multi-agent systems bootstrapping a communication system. Most studies are based on simulation, but recently there has been an increased interest in the properties and formal analysis of these systems. Although very interesting and promising results have been obtained in these studies, they always rely on major simplifications. For example, although much larger populations are considered than was the case in most earlier work, previous work assumes the possibility of meaning transfer. With meaning transfer, two agents always exactly know what they are talking about. This is hardly ever the case in actual communication systems, as noise corrupts the agents' perception and transfer of meaning. In this paper we first consider what happens when relaxing the meaning-transfer assumption, and propose a cross-situational learning scheme that allows a population of agents to still bootstrap a common lexicon under this condition. We empirically show the validity of the scheme and thereby improve on the results reported in (Smith, 2003) and (Vogt and Coumans, 2003) in which no satisfactory solution was found. It is not our aim to reduce the importance of previous work, instead we are excited by recent results and hope to stimulate further research by pointing towards some new challenges.
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