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Commonsense knowledge acquisition is one of the fundamental issues in realizing human-level AI. However, commonsense knowledge is difficult to obtain because it is a human consensus and rarely explicitly appears in texts or other data. In this paper, we focus on the automatic acquisition of a typical kind of implicit verb-oriented commonsense knowledge (e.g., " person eats food "), which is the concept-level knowledge of verb phrases. For this purpose, we propose a taxonomy-guided induction method to mine verb-oriented commonsense knowledge from verb phrases with the help of a probabilistic taxonomy. First, we design an entropy-based triplet filter to cope with noisy verb phrases. Then, we propose a joint model based on the minimum description length principle and a neural language model to generate verb-oriented commonsense knowledge. Besides, we introduce two strategies to accelerate the computation, including the simulated annealing-based approximate solution and the verb phrase clustering method. Finally, we conduct extensive experiments to prove that our solution is more effective than competitors in mining verb-oriented commonsense knowledge. We construct a commonsense knowledge base called VoCSK, containing 259 verbs and 18,406 verb-oriented commonsense knowledge. To verify the usefulness of VoCSK, we utilize the knowledge in this KB to improve the model performance on two downstream applications. [ABSTRACT FROM AUTHOR]