The object schemas act as discrete entities for the purposes of language and planning. Organizing continuous processes into object schemas allows incoming sensory **data** to be readily sorted for rapid interaction with language and planning, and vice versa. It should be noted that the term "schema" is used here in a psychological sense, as used by Piaget [25], or  Figure 1: Simplified block diagram of the system, showing **data** flow between the five parts of the system. Note that most of the **data** flow occurs by virtue of object schemas and plan trees being composed of interaction processes, which is not depicted. computationally by Drescher [14] or Roy [28], in that incoming continuous sensory percepts are organized into discrete structures. In this case, incoming sensory **data** is regarded as being signs of objects in the environment. Our object schemas are an implementation based on our interpretation of the term in this context.