Actionable knowledge graph (AKG), a specialized version of knowledge graph, was proposed recently to represent, analyze, and predict human action, thus facilitating deeper understanding of human action by robots. However, the automatic construction of AKGs from action-related corpora is still an unexplored problem. In this study, we first propose three unsupervised matrix factorization-based frameworks for AKG generation from three different perspectives: subject, context and functionality of action, respectively. Further, we propose a hybrid model based on neural network matrix factorization (NNMF) that considers multi-source signals simultaneously. It not only learns the latent action representations, but also learns the optimal learning objective rather than assuming it to be fixed. To quantitatively verify the utility of the constructed AKGs, we introduce a novel application, that is, predicting the most likely missing action records in Wikipedia biographies. Experimental results on a large-scale Wikipedia biography dataset show that the proposed model brings significant improvement over the baselines, which demonstrates the strong expressiveness of our generated AKGs.