A concept can be an association between a mental representation and a perceptually represented object, or a concept could be an association between a feeling and an object (both are basically the same thing).
Concepts are formed when unconscious feelings become linked to an object - this makes the object more able to be verbally described and conscious.
If animals formed concepts then they would be able to adapt their behavior in more creative fashions because they would be capable of more complex thought. The concepts they form are merely unconscious - A leads to B,, so don't do A - which is less sophisticated than a humans ability to manipulate concepts which goes something like 'maybe I can do this instead of that because of this or that reason'.
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