The core element is a database which consists of flashcards. Entries in the database are natural language words for [apple, banana, plate, table, ...] and also for verbs like [grasp, walkto, use, ungrasp, ...]. The symbol grounding engine works like a parser for a text adventure: a certain input on the terminal like "grasp apple" is matched with the database. The found entries in the database are extracted and converted into action signals for the robot hand.
In other words, there is no AI algorithm needed, but there is a word database. The database ensures that the computer understands natural language commands like "walkto table, locate apple, grasp banana".
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