Agents that communicate back and forth with humans to help them execute non-linguistic tasks are a long sought goal of AI. These agents need to translate between utterances and actionable meaning representations that can be interpreted by task-specific problem solvers in a context-dependent manner. They should also be able to learn such actionable interpretations for new predicates on the fly. We define an agent architecture for this scenario and present a series of experiments in the Blocks World domain that illustrate how our architecture supports language learning and problem solving in this domain.