The focus of this paper is on an action representation formalism that
encodes both linguistic and planning knowledge about actions, and that
supports the interpretation of complex Natural Language instructions
and, in particular, of instructions containing Purpose Clauses. The re
presentation uses linguistically motivated primitives, derived from Ja
ckendoff's work on Conceptual Semantics, and is embedded in the descri
ption logic based system CLASSIC. I first motivate the characteristics
of the formalism as needed to understand Natural Language instruction
s. I then describe the formalism itself, and I argue that the integrat
ion of a linguistically motivated lexical semantics formalism and of a
description logic based system is beneficial to both. Finally, I show
how the formalism is exploited by the algorithm that interprets Purpo
se Clauses. The output of the algorithm is used in the Animation from
NL project, that has as its goal the automatic creation of animated ta
sk simulations.