---
title: "A Framework for Integrating Symbolic and Sub-Symbolic Representations"
authors:
  - "Keith Clark"
  - "Bernhard Hengst"
  - "Maurice Pagnucco"
  - "David Rajaratnam"
  - "Peter Robinson"
  - "Claude Sammut"
  - "Michael Thielscher"
doi: ""
url: "https://ijcai.org/proceedings/2016/354"
pdf: "https://ijcai.org/proceedings/2016/0354.pdf"
venue: "Proceedings of the Twenty-Fifth International Joint Conference on Artificial Intelligence"
year: 2016
pages: "2486-2491"
track: ""
keywords:
---

# A Framework for Integrating Symbolic and Sub-Symbolic Representations

Keith Clark, Bernhard Hengst, Maurice Pagnucco, David Rajaratnam, Peter Robinson, Claude Sammut, Michael Thielscher

*Proceedings of the Twenty-Fifth International Joint Conference on Artificial Intelligence*, pages 2486-2491.

## Abstract

This paper establishes a framework that hierarchically integrates symbolic and sub-symbolic representations in an architecture for cognitive robotics. It is formalised abstractly as nodes in a hierarchy, with each node a sub-task that maintains its own belief-state and generates behaviour. An instantiation is developed for a real robot building towers of blocks, subject to human interference; this hierarchy uses a node with a concurrent multitasking teleo-reactive program, a node embedding a physics simulator to provide spatial knowledge, and nodes for sensor processing and robot control.