Spatial relations and spatial language form an important part of everyday reasoning. This paper describes SPATR, a system which addresses the labeUing of components of objects and the interpretation of spatial relations between objects within the framework of adaptive planning. S P A T R implements a model of spatial reasoning, which mediates among language, memory, and perception. Using a case-based approach for reasoning from past experience, S P A T R makes use of spatial relationships corresponding to closed class terms, as well as a 3D, hierarchical representation of objects for retrieving relevant past experience.
