Idiosyncrasies in production after a learning phase involving either the imitative (top) or the communicative (bottom) learning model.

Each plot displays vowel prototypes in the speech production task, after learning, for each of the twelve Learning Agents and for each of the seven learned vowels. Vowel prototypes are defined as the mean of the distributions P(f(M) | OS) for each vowel OS. In each plot, prototypes for each vowel and each agent are shown as colored dots in the first two formant acoustic space (F1, F2) (in Barks). To provide a reference, enabling the localization of prototypes in relation to the Master Agent’s vowel space, we also display the P(O | S) distributions for the Master, that is, the categorization regions of the Master Agent for each vowel, computed over all s values in the sensory domain (not constrained to be in the vocalic triangle, displayed by the grey area). The categorization regions are visualized as contour lines (contours are drawn one after the other, hence contours drawn later may hide contours drawn sooner).