Nicola Horst Davide Mazzaccara Antonia Schmidt Michael Sullivan Filippo Momentè Luca Franceschetti Philipp Sadler Sherzod Hakimov Alberto Testoni Raffaella Bernardi Raquel Fernández Alexander Koller Oliver Lemon David Schlangen Mario Giulianelli Alessandro Suglia Playpen: An Environment for Exploring Learning Through Conversational Interaction. 2025 April abs/2504.08590 CoRR https://doi.org/10.48550/arXiv.2504.08590 db/journals/corr/corr2504.html#abs-2504-08590 streams/journals/corr