{"id":"https://openalex.org/W2919842726","doi":"https://doi.org/10.1109/icra.2019.8794287","title":"Improving Grounded Natural Language Understanding through Human-Robot Dialog","display_name":"Improving Grounded Natural Language Understanding through Human-Robot Dialog","publication_year":2019,"publication_date":"2019-05-01","ids":{"openalex":"https://openalex.org/W2919842726","doi":"https://doi.org/10.1109/icra.2019.8794287","mag":"2919842726"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2019.8794287","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2019.8794287","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1903.00122","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Jesse Thomason","orcid":null},"institutions":[{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jesse Thomason","raw_affiliation_strings":["School of Computer Science and Engineering, University of Washington"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science and Engineering, University of Washington","institution_ids":["https://openalex.org/I201448701"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Aishwarya Padmakumar","orcid":null},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Aishwarya Padmakumar","raw_affiliation_strings":["Department of Computer Science, University of Texas at Austin"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Texas at Austin","institution_ids":["https://openalex.org/I86519309"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Jivko Sinapov","orcid":null},"institutions":[{"id":"https://openalex.org/I121934306","display_name":"Tufts University","ror":"https://ror.org/05wvpxv85","country_code":"US","type":"education","lineage":["https://openalex.org/I121934306"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jivko Sinapov","raw_affiliation_strings":["Department of Computer Science, Tufts University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Tufts University","institution_ids":["https://openalex.org/I121934306"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Nick Walker","orcid":null},"institutions":[{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nick Walker","raw_affiliation_strings":["School of Computer Science and Engineering, University of Washington"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science and Engineering, University of Washington","institution_ids":["https://openalex.org/I201448701"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Yuqian Jiang","orcid":null},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yuqian Jiang","raw_affiliation_strings":["Department of Computer Science, University of Texas at Austin"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Texas at Austin","institution_ids":["https://openalex.org/I86519309"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Harel Yedidsion","orcid":null},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Harel Yedidsion","raw_affiliation_strings":["Department of Computer Science, University of Texas at Austin"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Texas at Austin","institution_ids":["https://openalex.org/I86519309"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Justin Hart","orcid":null},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Justin Hart","raw_affiliation_strings":["Department of Computer Science, University of Texas at Austin"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Texas at Austin","institution_ids":["https://openalex.org/I86519309"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Peter Stone","orcid":null},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Peter Stone","raw_affiliation_strings":["Department of Computer Science, University of Texas at Austin"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Texas at Austin","institution_ids":["https://openalex.org/I86519309"]}]},{"author_position":"last","author":{"id":null,"display_name":"Raymond J. Mooney","orcid":null},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Raymond J. Mooney","raw_affiliation_strings":["Department of Computer Science, University of Texas at Austin"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Texas at Austin","institution_ids":["https://openalex.org/I86519309"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":9,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.627,"has_fulltext":false,"cited_by_count":32,"citation_normalized_percentile":{"value":0.8705812,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"6934","last_page":"6941"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.9994000196456909,"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":0.9994000196456909,"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/T12031","display_name":"Speech and dialogue systems","score":0.9988999962806702,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T10028","display_name":"Topic Modeling","score":0.9984999895095825,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/natural-language","display_name":"Natural language","score":0.6388999819755554},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5539000034332275},{"id":"https://openalex.org/keywords/dialog-box","display_name":"Dialog box","score":0.5101000070571899},{"id":"https://openalex.org/keywords/natural-language-understanding","display_name":"Natural language understanding","score":0.48969998955726624},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4699999988079071},{"id":"https://openalex.org/keywords/domain","display_name":"Domain (mathematical analysis)","score":0.4499000012874603},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.44190001487731934},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.4268999993801117},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.3869999945163727}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.704800009727478},{"id":"https://openalex.org/C195324797","wikidata":"https://www.wikidata.org/wiki/Q33742","display_name":"Natural language","level":2,"score":0.6388999819755554},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5859000086784363},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.580299973487854},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5539000034332275},{"id":"https://openalex.org/C173853756","wikidata":"https://www.wikidata.org/wiki/Q86915","display_name":"Dialog box","level":2,"score":0.5101000070571899},{"id":"https://openalex.org/C2779439875","wikidata":"https://www.wikidata.org/wiki/Q1078276","display_name":"Natural language understanding","level":3,"score":0.48969998955726624},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4699999988079071},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.4499000012874603},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.44190001487731934},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.4268999993801117},{"id":"https://openalex.org/C204321447","wikidata":"https://www.wikidata.org/wiki/Q30642","display_name":"Natural language processing","level":1,"score":0.42669999599456787},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.3869999945163727},{"id":"https://openalex.org/C186644900","wikidata":"https://www.wikidata.org/wiki/Q194152","display_name":"Parsing","level":2,"score":0.3637000024318695},{"id":"https://openalex.org/C2776608160","wikidata":"https://www.wikidata.org/wiki/Q4785462","display_name":"Natural (archaeology)","level":2,"score":0.35690000653266907},{"id":"https://openalex.org/C2983448237","wikidata":"https://www.wikidata.org/wiki/Q1078276","display_name":"Language understanding","level":2,"score":0.33169999718666077},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.2980000078678131},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2903999984264374},{"id":"https://openalex.org/C190954187","wikidata":"https://www.wikidata.org/wiki/Q5270587","display_name":"Dialog system","level":3,"score":0.2838999927043915},{"id":"https://openalex.org/C174252522","wikidata":"https://www.wikidata.org/wiki/Q3816772","display_name":"Natural language user interface","level":3,"score":0.2800999879837036},{"id":"https://openalex.org/C94922259","wikidata":"https://www.wikidata.org/wiki/Q33215","display_name":"Constructed language","level":2,"score":0.26919999718666077},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.2639999985694885},{"id":"https://openalex.org/C83479923","wikidata":"https://www.wikidata.org/wiki/Q2063748","display_name":"Universal Networking Language","level":4,"score":0.262800008058548},{"id":"https://openalex.org/C25344961","wikidata":"https://www.wikidata.org/wiki/Q192726","display_name":"Virtual machine","level":2,"score":0.2621000111103058},{"id":"https://openalex.org/C203005215","wikidata":"https://www.wikidata.org/wiki/Q79798","display_name":"Machine translation","level":2,"score":0.2583000063896179},{"id":"https://openalex.org/C2779041454","wikidata":"https://www.wikidata.org/wiki/Q870780","display_name":"Chatbot","level":2,"score":0.2581999897956848},{"id":"https://openalex.org/C161301231","wikidata":"https://www.wikidata.org/wiki/Q3478658","display_name":"Knowledge representation and reasoning","level":2,"score":0.25360000133514404}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra.2019.8794287","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2019.8794287","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:1903.00122","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1903.00122","pdf_url":"https://arxiv.org/pdf/1903.00122","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1903.00122","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1903.00122","pdf_url":"https://arxiv.org/pdf/1903.00122","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":43,"referenced_works":["https://openalex.org/W1502742190","https://openalex.org/W1996418862","https://openalex.org/W2055226328","https://openalex.org/W2070338807","https://openalex.org/W2085261163","https://openalex.org/W2107019937","https://openalex.org/W2107947143","https://openalex.org/W2134218594","https://openalex.org/W2152864241","https://openalex.org/W2186283982","https://openalex.org/W2293700449","https://openalex.org/W2586777479","https://openalex.org/W2808586583","https://openalex.org/W2885804027","https://openalex.org/W2890809352","https://openalex.org/W2902699874","https://openalex.org/W2963364848","https://openalex.org/W2963654998","https://openalex.org/W2963655793","https://openalex.org/W2963794306","https://openalex.org/W2963800628","https://openalex.org/W2963846044","https://openalex.org/W2964116568","https://openalex.org/W6601910536","https://openalex.org/W6640071036","https://openalex.org/W6640934977","https://openalex.org/W6667981000","https://openalex.org/W6682691769","https://openalex.org/W6683346186","https://openalex.org/W6686314286","https://openalex.org/W6689720060","https://openalex.org/W6696831953","https://openalex.org/W6729890293","https://openalex.org/W6732396613","https://openalex.org/W6746326660","https://openalex.org/W6746829117","https://openalex.org/W6748853652","https://openalex.org/W6751820210","https://openalex.org/W6752940780","https://openalex.org/W6755179952","https://openalex.org/W6755702254","https://openalex.org/W6759207700","https://openalex.org/W6848345937"],"related_works":[],"abstract_inverted_index":{"Natural":[0],"language":[1,31,71,87,100],"understanding":[2],"for":[3,14,55,84],"robotics":[4],"can":[5,28,44],"require":[6],"substantial":[7],"domain-":[8],"and":[9,38,73,93,102,107,119],"platform-specific":[10],"engineering.":[11],"For":[12],"example,":[13],"mobile":[15],"robots":[16,62],"to":[17,23,34,45,51,60,66,89,97,125,130],"pick-and-place":[18],"objects":[19],"in":[20,63,111,133],"an":[21,81],"environment":[22],"satisfy":[24],"human":[25,64],"commands,":[26,37],"we":[27,79,120],"specify":[29],"the":[30,122,134],"humans":[32],"use":[33,94],"issue":[35],"such":[36],"connect":[39],"concept":[40,103],"words":[41],"like":[42],"red":[43],"physical":[46,127],"object":[47],"properties.":[48],"One":[49],"way":[50],"alleviate":[52],"this":[53,77,109],"engineering":[54],"a":[56,112,126],"new":[57,70],"domain":[58],"is":[59],"enable":[61],"environments":[65],"adapt":[67],"dynamically-continually":[68],"learning":[69],"constructions":[72],"perceptual":[74],"concepts.":[75],"In":[76],"work,":[78],"present":[80],"end-to-end":[82],"pipeline":[83],"translating":[85],"natural":[86],"commands":[88],"discrete":[90],"robot":[91,128],"actions,":[92],"clarification":[95],"dialogs":[96],"jointly":[98],"improve":[99],"parsing":[101],"grounding.":[104],"We":[105],"train":[106],"evaluate":[108],"agent":[110,124],"virtual":[113],"setting":[114],"on":[115],"Amazon":[116],"Mechanical":[117],"Turk,":[118],"transfer":[121],"learned":[123],"platform":[129],"demonstrate":[131],"it":[132],"real":[135],"world.":[136]},"counts_by_year":[{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2019-03-11T00:00:00"}