Object-Action Complexes: Grounded Abstractions of Sensori-motor Processes

Norbert Krüger, Christopher Geib, Justus Piater, Ronald Petrick, Mark Steedman, Florentin Wörgötter, Ales Ude, Tamin Asfour, Dirk Kraft, Damir Omrcen, Alejandro Agostini, Rüdiger Dillmann

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This paper formalises Object-Action Complexes (OACs) as a basis for symbolic
representations of sensorimotor experience and behaviours. OACs are
designed to capture the interaction between objects and associated actions
in articial cognitive systems. This paper gives a formal denition of OACs,
provides examples of their use for autonomous cognitive robots, and enumerates
a number of critical learning problems in terms of OACs.
Original languageEnglish
JournalRobotics and Autonomous Systems
Issue number10
Pages (from-to)740-757
Number of pages18
Publication statusPublished - 2011


  • Robotics
  • Grounding
  • Reasoning about action and change
  • Execution monitoring
  • Machine learning

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    Krüger, N., Geib, C., Piater, J., Petrick, R., Steedman, M., Wörgötter, F., Ude, A., Asfour, T., Kraft, D., Omrcen, D., Agostini, A., & Dillmann, R. (2011). Object-Action Complexes: Grounded Abstractions of Sensori-motor Processes. Robotics and Autonomous Systems, 59(10), 740-757. https://doi.org/10.1016/j.robot.2011.05.009