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A representation of common ground for everyday scenarios is essential for these agents if they are to be effective collaborators and communicators. Effective collaborators can infer a partner's goals and predict future actions. Effective communicators can infer the meaning of utterances based on semantic context. This thesis introduces a computational cognitive model of common ground called a Plan Network. A Plan Network is a statistical model that provides representations of social roles, object affordances, and expected patterns of behavior and language. I describe a methodology for unsupervised learning of a Plan Network using a multiplayer video game, visualization of this network, and evaluation of the learned model with respect to human judgment of typical behavior.
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