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Authoritative: http://dx.doi.org/10.1016/j.artint.2005.06.002   (Publisher's PDF... likely be available here.)

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BibTex

@article{roy05connectingLanguageToTheWorld,
  author={Deb Roy and Ehud Reiter},
  title={Connecting language to the world},
  journal={Artificial Intelligence},
  year={2005},
  month={September},
  volume={167},
  number={1-2},
  pages={1-12},
  doi={10.1016/j.artint.2005.06.002},
  url={http://www.isrl.uiuc.edu/~amag/langev/paper/roy05connectingLanguageToTheWorld.html}
}