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Journal paper

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

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This paper formalises Object-Action Complexes (OACs) as a basis for symbolic representations of sensory-motor experience and behaviours. OACs are designed to capture the interaction between objects and associated actions in artificial cognitive systems. This paper gives a formal definition of OACs, provides examples of their use for autonomous cognitive robots, and enumerates a number of critical learning problems in terms of OACs.