Mordatch, Igor, and Pieter Abbeel. “Emergence of Grounded Compositional Language in Multi-Agent Populations”. Proceedings of the AAAI Conference on Artificial Intelligence 32, no. 1 (April 25, 2018). Accessed May 25, 2026. https://ojs.aaai.org/index.php/AAAI/article/view/11492.