According to the grounded perspective, cognition emerges from the interaction of classic cognitive processes with the modalities, the body, and the environment. Rather than being an autonomous impenetrable module, cognition incorporates these other domains intrinsically into its operation. The Situated Action Cycle offers one way of understanding how the modalities, the body, and the environment become integrated to ground cognition. Seven challenges and opportunities are raised for this perspective: (1) How does cognition emerge from the Situated Action Cycle and in turn support it? (2) How can we move beyond simply equating embodiment with action, additionally establishing how embodiment arises in the autonomic, neuroendocrine, immune, cardiovascular, respiratory, digestive, and integumentary systems? (3) How can we better understand the mechanisms underlying multimodal simulation, its functions across the Situated Action Cycle, and its integration with other representational systems? (4) How can we develop and assess theoretical accounts of symbolic processing from the grounded perspective (perhaps using the construct of simulators)? (5) How can we move beyond the simplistic distinction between concrete and abstract concepts, instead addressing how concepts about the external and internal worlds pattern to support the Situated Action Cycle? (6) How do individual differences emerge from different populations of situational memories as the Situated Action Cycle manifests itself differently across individuals? (7) How can constructs from grounded cognition provide insight into the replication and generalization crises, perhaps from a quantum perspective on mechanisms (as exemplified by simulators).