Grounding the Lexical Semantics of Verbs in Visual Perception using
  Force Dynamics and Event Logic
  This paper presents an implemented system for recognizing the occurrence of
events described by simple spatial-motion verbs in short image sequences. The
semantics of these verbs is specified with event-logic expressions that
describe changes in the state of force-dynamic relations between the
participants of the event. An efficient finite representation is introduced for
the infinite sets of intervals that occur when describing liquid and
semi-liquid events. Additionally, an efficient procedure using this
representation is presented for inferring occurrences of compound events,
described with event-logic expressions, from occurrences of primitive events.
Using force dynamics and event logic to specify the lexical semantics of events
allows the system to be more robust than prior systems based on motion profile.
