It is easy to associate a word/name with the lowest level concepts that Asa (or a human infant) learns, things like:
collision=(sense near, bump, accelerate, hear sound "collision")
approach=(sense far, move forward, sense near, hear sound "approach")
When running Asa H we frequently watch the signals being sent from one level of the memory hierarchy to the next (see my blog of 26 Aug. 2013) which makes it possible to supply names for the higher level concepts as they become activated. This is not possible for humans of course. Humans probably do not share exactly the same higher level (i.e. more abstract) concepts.