Identifying the semantic properties of the object of the verb helps us to determine which verb can be used in a certain context: steal, rob, or burglarize. The object of the verb steal, for example, is almost always non-human, portable/movable (easily carried form a place to another) and usually concrete, unless the verb is used in a metaphorical sense.
Finally the feature that distinguishes the object of burglarize is that it must be a place and not a human being.
Any violation of this semantic constraint on the object of burglarize renders the sentence unacceptable.
Virtually all the examples the study considered show that the verb burglarize refers to that kind of theft that is committed against places, but the things that these places contain are not burglarized by burglars, but rather are stolen, as the following example illustrates:
Unlike the verb steal, the direct objects of the verbs rob and burglarize are not single objects (things), but rather places or people.
However, the verbs burglarize and rob are acceptable in the following example, whereas steal is not, simply because the object is a place and not a single movable object.
Unlike rob whose direct object can be either human or place, the verb burglarize implies an illegal activity of stealthily forcing a way or breaking into a secure place in order to steal something from it.
Why did he use rob rather than burglarize although the latter is used in the first sentence?
Another aspect that might shed light on the different uses of the verbs steal, rob, and burglarize relates to their connotative meanings.