A few years ago I read his PhD thesis The Dynamic Structure of Everyday Life [1]. I found it worth reading. At that time I also read the paper he wrote with David Chapman, Pengi: An Implementation of a Theory of Activity, which was also interesting.

[1] https://dspace.mit.edu/handle/1721.1/6975

[2] https://www.aaai.org/Papers/AAAI/1987/AAAI87-048.pdf