However, in order for the robot to successfully "give me the blue one," it must be able to link the meaning of the words in the utterance to its perception of the environment (Roy, Hsiao, & Mavridis, 2004).
recent work on grounding meaning has focused on how words and utterances map onto physical descriptions of the environment: either in the form of perceptual representations (Roy, in press, Siskind, 2001, Regier, 1996 or control schemas (Bailey, 1997Narayanan, 1999.