{"id":"https://openalex.org/W1493086929","doi":"https://doi.org/10.1109/icra.2015.7139984","title":"Learning models for following natural language directions in unknown environments","display_name":"Learning models for following natural language directions in unknown environments","publication_year":2015,"publication_date":"2015-05-01","ids":{"openalex":"https://openalex.org/W1493086929","doi":"https://doi.org/10.1109/icra.2015.7139984","mag":"1493086929"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2015.7139984","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7139984","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5023968163","display_name":"Sachithra Hemachandra","orcid":"https://orcid.org/0000-0002-0329-1750"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sachithra Hemachandra","raw_affiliation_strings":["Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA","Computer Science and Artificial, Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]},{"raw_affiliation_string":"Computer Science and Artificial, Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050339527","display_name":"Felix Duvallet","orcid":"https://orcid.org/0000-0002-1109-8280"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Felix Duvallet","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","Robotics Institute, Carnegie Mellon University,Pittsburgh,PA,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University,Pittsburgh,PA,USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101411184","display_name":"Thomas M. Howard","orcid":"https://orcid.org/0000-0002-8270-0806"},"institutions":[{"id":"https://openalex.org/I5388228","display_name":"University of Rochester","ror":"https://ror.org/022kthw22","country_code":"US","type":"education","lineage":["https://openalex.org/I5388228"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Thomas M. Howard","raw_affiliation_strings":["University of Rochester, Rochester, NY, USA","University of Rochester, NY, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Rochester, Rochester, NY, USA","institution_ids":["https://openalex.org/I5388228"]},{"raw_affiliation_string":"University of Rochester, NY, USA","institution_ids":["https://openalex.org/I5388228"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010817303","display_name":"Nicholas Roy","orcid":"https://orcid.org/0000-0002-8293-0492"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nicholas Roy","raw_affiliation_strings":["Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA","Computer Science and Artificial, Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]},{"raw_affiliation_string":"Computer Science and Artificial, Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049281530","display_name":"Anthony Stentz","orcid":null},"institutions":[{"id":"https://openalex.org/I5388228","display_name":"University of Rochester","ror":"https://ror.org/022kthw22","country_code":"US","type":"education","lineage":["https://openalex.org/I5388228"]},{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Anthony Stentz","raw_affiliation_strings":["University of Rochester, Rochester, NY, USA","Robotics Institute, Carnegie Mellon University,Pittsburgh,PA,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Rochester, Rochester, NY, USA","institution_ids":["https://openalex.org/I5388228"]},{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University,Pittsburgh,PA,USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103153703","display_name":"Matthew R. Walter","orcid":"https://orcid.org/0000-0003-1425-6050"},"institutions":[{"id":"https://openalex.org/I160992636","display_name":"Toyota Technological Institute at Chicago","ror":"https://ror.org/02sn5gb64","country_code":"US","type":"education","lineage":["https://openalex.org/I160992636"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Matthew R. Walter","raw_affiliation_strings":["Toyota Technological Institute at Chicago, Chicago, IL, USA","Toyota Technological Institute at Chicago, IL USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Toyota Technological Institute at Chicago, Chicago, IL, USA","institution_ids":["https://openalex.org/I160992636"]},{"raw_affiliation_string":"Toyota Technological Institute at Chicago, IL USA","institution_ids":["https://openalex.org/I160992636"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":4.3059,"has_fulltext":false,"cited_by_count":67,"citation_normalized_percentile":{"value":0.96162302,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"5608","last_page":"5615"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.991599977016449,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9883999824523926,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7763261795043945},{"id":"https://openalex.org/keywords/natural-language","display_name":"Natural language","score":0.7342773079872131},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6806319952011108},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.6460143327713013},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5763375163078308},{"id":"https://openalex.org/keywords/natural","display_name":"Natural (archaeology)","score":0.5372917652130127},{"id":"https://openalex.org/keywords/natural-language-understanding","display_name":"Natural language understanding","score":0.5309391021728516},{"id":"https://openalex.org/keywords/metric","display_name":"Metric (unit)","score":0.47510039806365967},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4448801279067993},{"id":"https://openalex.org/keywords/inference","display_name":"Inference","score":0.4241464138031006},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.360314279794693},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.11165183782577515}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7763261795043945},{"id":"https://openalex.org/C195324797","wikidata":"https://www.wikidata.org/wiki/Q33742","display_name":"Natural language","level":2,"score":0.7342773079872131},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6806319952011108},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.6460143327713013},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5763375163078308},{"id":"https://openalex.org/C2776608160","wikidata":"https://www.wikidata.org/wiki/Q4785462","display_name":"Natural (archaeology)","level":2,"score":0.5372917652130127},{"id":"https://openalex.org/C2779439875","wikidata":"https://www.wikidata.org/wiki/Q1078276","display_name":"Natural language understanding","level":3,"score":0.5309391021728516},{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.47510039806365967},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4448801279067993},{"id":"https://openalex.org/C2776214188","wikidata":"https://www.wikidata.org/wiki/Q408386","display_name":"Inference","level":2,"score":0.4241464138031006},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.360314279794693},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.11165183782577515},{"id":"https://openalex.org/C21547014","wikidata":"https://www.wikidata.org/wiki/Q1423657","display_name":"Operations management","level":1,"score":0.0},{"id":"https://openalex.org/C95457728","wikidata":"https://www.wikidata.org/wiki/Q309","display_name":"History","level":0,"score":0.0},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2015.7139984","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7139984","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/4","display_name":"Quality Education","score":0.8299999833106995}],"awards":[],"funders":[{"id":"https://openalex.org/F4320338295","display_name":"Army Research Laboratory","ror":"https://ror.org/011hc8f90"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":40,"referenced_works":["https://openalex.org/W46490633","https://openalex.org/W115054279","https://openalex.org/W1602500555","https://openalex.org/W1923162067","https://openalex.org/W1931877416","https://openalex.org/W1946137962","https://openalex.org/W1991374750","https://openalex.org/W2007820193","https://openalex.org/W2029806546","https://openalex.org/W2042452952","https://openalex.org/W2069809153","https://openalex.org/W2118781169","https://openalex.org/W2122986079","https://openalex.org/W2125188427","https://openalex.org/W2137052305","https://openalex.org/W2149020252","https://openalex.org/W2157791002","https://openalex.org/W2165881750","https://openalex.org/W2169498096","https://openalex.org/W2236233024","https://openalex.org/W2294092760","https://openalex.org/W2586889085","https://openalex.org/W2962957031","https://openalex.org/W2976490211","https://openalex.org/W3004533406","https://openalex.org/W3021485519","https://openalex.org/W3147794100","https://openalex.org/W4206684016","https://openalex.org/W6601910536","https://openalex.org/W6604627976","https://openalex.org/W6636408305","https://openalex.org/W6640071036","https://openalex.org/W6640174482","https://openalex.org/W6640697403","https://openalex.org/W6667981000","https://openalex.org/W6682953061","https://openalex.org/W6697060126","https://openalex.org/W6697153171","https://openalex.org/W6733059278","https://openalex.org/W6763868703"],"related_works":["https://openalex.org/W2367925007","https://openalex.org/W4288263119","https://openalex.org/W3015724364","https://openalex.org/W2967994095","https://openalex.org/W4285240985","https://openalex.org/W2900126711","https://openalex.org/W4286930972","https://openalex.org/W3202115945","https://openalex.org/W2542958340","https://openalex.org/W4389520438"],"abstract_inverted_index":{"Natural":[0],"language":[1,39,71,125,185],"offers":[2],"an":[3],"intuitive":[4],"and":[5,24,41,85,102,121,144,169],"flexible":[6],"means":[7],"for":[8,149],"humans":[9],"to":[10,31,36,67,95,147,181],"communicate":[11],"with":[12],"the":[13,52,79,89,93,100,117,123,131,142,177],"robots":[14,32,66],"that":[15,33,64,88,166],"we":[16,58],"will":[17],"increasingly":[18],"work":[19],"alongside":[20],"in":[21,114],"our":[22,157],"homes":[23],"workplaces.":[25],"Recent":[26],"advancements":[27],"have":[28],"given":[29],"rise":[30],"are":[34],"able":[35,180],"interpret":[37],"natural":[38,70,124,184],"manipulation":[40],"navigation":[42],"commands,":[43],"but":[44],"these":[45],"methods":[46],"require":[47],"a":[48,60,97,128,150,160,173],"prior":[49],"map":[50,143],"of":[51,78,105,116],"robot's":[53],"environment.":[54,80],"In":[55],"this":[56,112],"paper,":[57],"propose":[59],"novel":[61,135],"learning":[62,168],"framework":[63,158],"enables":[65],"successfully":[68,182],"follow":[69,183],"route":[72,186],"directions":[73,187],"without":[74],"any":[75],"previous":[76],"knowledge":[77],"The":[81,163],"algorithm":[82,178],"utilizes":[83],"spatial":[84],"semantic":[86,103],"information":[87],"human":[90],"conveys":[91],"through":[92],"command":[94],"learn":[96],"distribution":[98,113,129],"over":[99,130,141,172],"metric":[101],"properties":[104],"spatially":[106],"extended":[107,190],"environments.":[108,191],"Our":[109],"method":[110],"uses":[111],"place":[115],"latent":[118,174],"world":[119],"model":[120],"interprets":[122],"instruction":[126],"as":[127],"intended":[132],"behavior.":[133],"A":[134],"belief":[136],"space":[137],"planner":[138],"reasons":[139],"directly":[140],"behavior":[145],"distributions":[146],"solve":[148],"policy":[151],"using":[152],"imitation":[153],"learning.":[154],"We":[155],"evaluate":[156],"on":[159],"voice-commandable":[161],"wheelchair.":[162],"results":[164],"demonstrate":[165],"by":[167],"performing":[170],"inference":[171],"environment":[175],"model,":[176],"is":[179],"within":[188],"novel,":[189]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":7},{"year":2020,"cited_by_count":14},{"year":2019,"cited_by_count":16},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":9},{"year":2016,"cited_by_count":4},{"year":2015,"cited_by_count":6}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}