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The aim of the article is to present a model of causal relations that is based on what is known about human causal reasoning and that forms guidelines for implementations in robots. I argue for two theses concerning human cognition. The first is that human causal cognition, in contrast to that of other animals, is based on the understanding of the forces that are involved. The second thesis is that humans think about causality in terms of events. I present a two-vector model of events, developed by Gärdenfors and Warglien, which states
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