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Deb Roy. 2005. Semiotic schemas: A framework for grounding language in action and perception. Artificial Intelligence, vol 167, no 1--2. [SituatedLanguage, semparse] pdf google scholar
Deb Roy and Ehud Reiter. 2005. Connecting Language to the World. Artificial Intelligence, vol 167, no 1--2. [SituatedLanguage, semparse] pdf google scholar

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