[1] Natl Univ Singapore, Temasek Labs, Cognit Sci Programme, Singapore 117548, Singapore
[2] Tech Univ Munich, Inst Human Machine Commun, Machine Intelligence & Signal Proc Grp, D-80290 Munich, Germany
[3] Univ Illinois, Chicago, IL USA
[4] MIT, Open Mind Common Sense Project, Media Lab, Cambridge, MA USA