We commend the argument that perception and action are tightly coupled. We claim that the argument is not new, that uniting stimulus and response codes is not a problem for a cognitive system, only for psychologists who assume them, and that the Theory of Event Coding (TEC)'s event-codes are arbitrary and ungrounded. Affordances and information offer the common basis for perception-action (and even for event-codes).
Richardson, M., & Michaels, C. F. (2001). The event-code: not the solution to a problem, but a problem to be solved. Behavioral and Brain Sciences, 24(5), 901-902. https://doi.org/10.1017/S0140525X01440106