Vision, instruction, and action

Artificial Intelligence 73 (1-2):387-401 (1995)
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10.1016/0004-3702(95)90046-2

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Visual routines.Shimon Ullman - 1984 - Cognition 18 (1-3):97-159.
Planning for conjunctive goals.David Chapman - 1987 - Artificial Intelligence 32 (3):333-377.

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