Even an elementary'' intelligence for control of the physical world will require very many kinds of knowledge and ability. Among these are ones related to perception, action, and reasoning about near space'': that region comprising one's body and the portion of space within reach of one's effectors; chief among these are individuation and categorization of objects. These in turn are made useful in part by the additional capacities to estimate category size, change one's beliefs about categories, and form new categories or revise old categories. In this position paper we point out some issues in knowledge representation that can arise with respect to the above capacities, and suggest that the framework of ``active logics'' (see below) may be marshaled toward solutions. We will conduct our discussion in terms of learning to understand in a semantically explicit way one's own sensori-motor system and its interactions with near-space objects. (Also cross-referenced as UMIACS-TR-94-63)