In the context of measure theory, given a probability measure $\xi : \mathcal{B}(X) \rightarrow [0,1]$ and a (smooth) function $v:X\rightarrow \mathbb{R}$ where $X\subset \mathbb{R}^n$, we encounter the notation
$$ \int_X v(x)\, \xi(dx) $$
What is behind the notation $\xi(dx)$ formally ? Do probability measures act on differential forms ? If so, what is this action formally ?