store the information in a database. Further reading Krüger, N., Piater, J., Wörgötter,F., Geib, Ch., Petrick, R., Steedman, M.; Ude, A., Asfour, T., Kraft, D., Omrcen, D., Hommel, B., Agostini, A., Kragic, D., Eklundh, J., Kruger, V. and Dillmann, R.(2009). A Formal Definition of Object Action Complexes and Examples at different Levels of the Process Hierarchy. Wörgötter, F., Agostini, A., Krüger, N., Shylo, N. and Porr, B. Cognitive agents - a procedural perspective relying on the predictability of Object-Action-Complexes (OACs). Robotics and Autonomous Systems, 2008. Geib, Ch., Mourao, K., Petrick, R., Pugeault, N., Steedman, M., Krüger, N. and Wörgötter, F. Object Action Complexes as an Interface for Planning and Robot Control. IEEE-RAS International Conference on Humanoid Robots (Humanoids 2006). Justus Piater, Mark Steedman, Florentin Wörgötter. Learning in PACO-PLUS. References Robot control Robot architectures