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Workshop paper

Object Action Complexes as an Interface for Planning and Robot Control, C. Geib, K. Mourão, R. Petrick, N. Pugeault, M. Steedman, N. Krueger, and F. Wörgötter, IEEE-RAS Humanoids-06 Workshop: Towards Cognitive Humanoid Robots, 2006.

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Much prior work in integrating high-level artificial intelligence planning technology with low-level robotic control has foundered on the significant representational differences between these two areas of research. We discuss a proposed solution to this representational discontinuity in the form of object-action complexes (OACs). The pairing of actions and objects in a single interface representation captures the needs of both reasoning levels, and will enable machine learning of high-level action representations from low-level control representations.