@article{tellex11a,
   Title = {Approaching the Symbol Grounding Problem with Probabilistic Graphical Models},
   Author = {Tellex, S. and Kollar, T. and Dickerson, S. and Walter, M.R. and Banerjee, A.G. and Teller, S. and Roy, N.},
   Journal = {AI Magazine},
   Volume = {32},
   Number = {4},
   Pages = {64--76},
   Month = {Winter},
   Year = {2011}}