{"id":"https://openalex.org/W3091195047","doi":"https://doi.org/10.1109/icra40945.2020.9197315","title":"Enabling Robots to Understand Incomplete Natural Language Instructions Using Commonsense Reasoning","display_name":"Enabling Robots to Understand Incomplete Natural Language Instructions Using Commonsense Reasoning","publication_year":2020,"publication_date":"2020-05-01","ids":{"openalex":"https://openalex.org/W3091195047","doi":"https://doi.org/10.1109/icra40945.2020.9197315","mag":"3091195047"},"language":"en","primary_location":{"id":"doi:10.1109/icra40945.2020.9197315","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9197315","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 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/A5100767770","display_name":"Haonan Chen","orcid":"https://orcid.org/0000-0001-9812-0438"},"institutions":[{"id":"https://openalex.org/I114027177","display_name":"University of North Carolina at Chapel Hill","ror":"https://ror.org/0130frc33","country_code":"US","type":"education","lineage":["https://openalex.org/I114027177"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Haonan Chen","raw_affiliation_strings":["Department of Computer Science, University of North Carolina at Chapel Hill, Chapel Hill, NC, USA"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of North Carolina at Chapel Hill, Chapel Hill, NC, USA","institution_ids":["https://openalex.org/I114027177"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074267258","display_name":"Hao Tan","orcid":"https://orcid.org/0000-0002-9489-6543"},"institutions":[{"id":"https://openalex.org/I114027177","display_name":"University of North Carolina at Chapel Hill","ror":"https://ror.org/0130frc33","country_code":"US","type":"education","lineage":["https://openalex.org/I114027177"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hao Tan","raw_affiliation_strings":["Department of Computer Science, University of North Carolina at Chapel Hill, Chapel Hill, NC, USA"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of North Carolina at Chapel Hill, Chapel Hill, NC, USA","institution_ids":["https://openalex.org/I114027177"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068912132","display_name":"Alan Kuntz","orcid":"https://orcid.org/0000-0003-0017-3932"},"institutions":[{"id":"https://openalex.org/I223532165","display_name":"University of Utah","ror":"https://ror.org/03r0ha626","country_code":"US","type":"education","lineage":["https://openalex.org/I223532165"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Alan Kuntz","raw_affiliation_strings":["Robotics Center and School of Computing, University of Utah, Salt Lake City, UT, USA"],"affiliations":[{"raw_affiliation_string":"Robotics Center and School of Computing, University of Utah, Salt Lake City, UT, USA","institution_ids":["https://openalex.org/I223532165"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001987532","display_name":"Mohit Bansal","orcid":"https://orcid.org/0000-0001-5522-1351"},"institutions":[{"id":"https://openalex.org/I114027177","display_name":"University of North Carolina at Chapel Hill","ror":"https://ror.org/0130frc33","country_code":"US","type":"education","lineage":["https://openalex.org/I114027177"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mohit Bansal","raw_affiliation_strings":["Department of Computer Science, University of North Carolina at Chapel Hill, Chapel Hill, NC, USA"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of North Carolina at Chapel Hill, Chapel Hill, NC, USA","institution_ids":["https://openalex.org/I114027177"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5054402635","display_name":"Ron Alterovitz","orcid":"https://orcid.org/0000-0002-4492-1384"},"institutions":[{"id":"https://openalex.org/I114027177","display_name":"University of North Carolina at Chapel Hill","ror":"https://ror.org/0130frc33","country_code":"US","type":"education","lineage":["https://openalex.org/I114027177"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ron Alterovitz","raw_affiliation_strings":["Department of Computer Science, University of North Carolina at Chapel Hill, Chapel Hill, NC, USA"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of North Carolina at Chapel Hill, Chapel Hill, NC, USA","institution_ids":["https://openalex.org/I114027177"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5100767770"],"corresponding_institution_ids":["https://openalex.org/I114027177"],"apc_list":null,"apc_paid":null,"fwci":4.3745,"has_fulltext":false,"cited_by_count":46,"citation_normalized_percentile":{"value":0.95338698,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1963","last_page":"1969"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10028","display_name":"Topic Modeling","score":0.9994999766349792,"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"}},"topics":[{"id":"https://openalex.org/T10028","display_name":"Topic Modeling","score":0.9994999766349792,"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/T10181","display_name":"Natural Language Processing Techniques","score":0.9994999766349792,"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/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"}}],"keywords":[{"id":"https://openalex.org/keywords/commonsense-reasoning","display_name":"Commonsense reasoning","score":0.8605070114135742},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.8413370251655579},{"id":"https://openalex.org/keywords/commonsense-knowledge","display_name":"Commonsense knowledge","score":0.7666956186294556},{"id":"https://openalex.org/keywords/natural-language","display_name":"Natural language","score":0.6874439716339111},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6603233814239502},{"id":"https://openalex.org/keywords/natural-language-understanding","display_name":"Natural language understanding","score":0.6039840579032898},{"id":"https://openalex.org/keywords/natural-language-processing","display_name":"Natural language processing","score":0.5936021208763123},{"id":"https://openalex.org/keywords/parsing","display_name":"Parsing","score":0.5544704794883728},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.551903247833252},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5506295561790466},{"id":"https://openalex.org/keywords/question-answering","display_name":"Question answering","score":0.4906803369522095},{"id":"https://openalex.org/keywords/semantic-reasoner","display_name":"Semantic reasoner","score":0.42177021503448486},{"id":"https://openalex.org/keywords/knowledge-base","display_name":"Knowledge base","score":0.29413241147994995}],"concepts":[{"id":"https://openalex.org/C193221554","wikidata":"https://www.wikidata.org/wiki/Q5153664","display_name":"Commonsense reasoning","level":2,"score":0.8605070114135742},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8413370251655579},{"id":"https://openalex.org/C30542707","wikidata":"https://www.wikidata.org/wiki/Q1603203","display_name":"Commonsense knowledge","level":3,"score":0.7666956186294556},{"id":"https://openalex.org/C195324797","wikidata":"https://www.wikidata.org/wiki/Q33742","display_name":"Natural language","level":2,"score":0.6874439716339111},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6603233814239502},{"id":"https://openalex.org/C2779439875","wikidata":"https://www.wikidata.org/wiki/Q1078276","display_name":"Natural language understanding","level":3,"score":0.6039840579032898},{"id":"https://openalex.org/C204321447","wikidata":"https://www.wikidata.org/wiki/Q30642","display_name":"Natural language processing","level":1,"score":0.5936021208763123},{"id":"https://openalex.org/C186644900","wikidata":"https://www.wikidata.org/wiki/Q194152","display_name":"Parsing","level":2,"score":0.5544704794883728},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.551903247833252},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5506295561790466},{"id":"https://openalex.org/C44291984","wikidata":"https://www.wikidata.org/wiki/Q1074173","display_name":"Question answering","level":2,"score":0.4906803369522095},{"id":"https://openalex.org/C9616225","wikidata":"https://www.wikidata.org/wiki/Q3929429","display_name":"Semantic reasoner","level":2,"score":0.42177021503448486},{"id":"https://openalex.org/C4554734","wikidata":"https://www.wikidata.org/wiki/Q593744","display_name":"Knowledge base","level":2,"score":0.29413241147994995},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra40945.2020.9197315","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9197315","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8899999856948853,"display_name":"Quality Education","id":"https://metadata.un.org/sdg/4"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":48,"referenced_works":["https://openalex.org/W179875071","https://openalex.org/W182831726","https://openalex.org/W1493086929","https://openalex.org/W1718499378","https://openalex.org/W1868327218","https://openalex.org/W1891689858","https://openalex.org/W1900424585","https://openalex.org/W1965703460","https://openalex.org/W1995093600","https://openalex.org/W2007820193","https://openalex.org/W2030370175","https://openalex.org/W2116512345","https://openalex.org/W2124377272","https://openalex.org/W2135643110","https://openalex.org/W2168963845","https://openalex.org/W2229480318","https://openalex.org/W2250539671","https://openalex.org/W2251648989","https://openalex.org/W2295155457","https://openalex.org/W2561529111","https://openalex.org/W2734458248","https://openalex.org/W2740765036","https://openalex.org/W2741104228","https://openalex.org/W2774005037","https://openalex.org/W2784025607","https://openalex.org/W2803469966","https://openalex.org/W2810720462","https://openalex.org/W2896457183","https://openalex.org/W2899235916","https://openalex.org/W2919842726","https://openalex.org/W2952033963","https://openalex.org/W2962739339","https://openalex.org/W2963150697","https://openalex.org/W2963341956","https://openalex.org/W2964116568","https://openalex.org/W2964207259","https://openalex.org/W2964935470","https://openalex.org/W3100232116","https://openalex.org/W4292928772","https://openalex.org/W4293657181","https://openalex.org/W6607333740","https://openalex.org/W6637546263","https://openalex.org/W6639622275","https://openalex.org/W6746518932","https://openalex.org/W6751820210","https://openalex.org/W6755207826","https://openalex.org/W6756101504","https://openalex.org/W6756557100"],"related_works":["https://openalex.org/W3162291398","https://openalex.org/W4287181615","https://openalex.org/W4313191056","https://openalex.org/W3212083217","https://openalex.org/W3201241024","https://openalex.org/W4286972910","https://openalex.org/W2928107702","https://openalex.org/W4389523813","https://openalex.org/W3091195047","https://openalex.org/W2943368643"],"abstract_inverted_index":{"Enabling":[0],"robots":[1,14],"to":[2,38,53,73,75,198],"understand":[3,124],"instructions":[4,29],"provided":[5,112],"via":[6],"spoken":[7],"natural":[8,27,77,115,205],"language":[9,28,78,116,168,206],"would":[10,35],"facilitate":[11],"interaction":[12],"between":[13],"and":[15,24,45,48,88,100,147,186],"people":[16],"in":[17,22,91,135,138,144,194],"a":[18,39,66,71,76,81,101,118,121,167,176,196],"variety":[19],"of":[20,175,189],"settings":[21],"homes":[23],"workplaces.":[25],"However,":[26],"are":[30],"often":[31],"missing":[32,93,136],"information":[33,92,137],"that":[34,120],"be":[36,54],"obvious":[37],"human":[40],"based":[41,202],"on":[42,203],"environmental":[43,98],"context":[44,99],"common":[46],"sense,":[47],"hence":[49],"does":[50],"not":[51],"need":[52],"explicitly":[55],"stated.":[56],"In":[57],"this":[58],"paper,":[59],"we":[60],"introduce":[61],"Language-Model-based":[62],"Commonsense":[63],"Reasoning":[64],"(LMCR),":[65],"new":[67,102],"method":[68],"which":[69],"enables":[70],"robot":[72,122,177,197],"listen":[74],"instruction":[79,96,111,140],"from":[80,94,160,182],"human,":[82],"observe":[83],"the":[84,95,139,173,187],"environment":[85],"around":[86],"it,":[87],"automatically":[89,181],"fill":[90],"using":[97],"commonsense":[103,149,153,179,191],"reasoning":[104,154,192],"approach.":[105],"Our":[106,131,170],"approach":[107,132,157],"first":[108],"converts":[109],"an":[110],"as":[113],"unconstrained":[114],"into":[117,128],"form":[119],"can":[123],"by":[125,141,165],"parsing":[126],"it":[127],"verb":[129],"frames.":[130],"then":[133],"fills":[134],"observing":[142],"objects":[143],"its":[145],"vicinity":[146],"leveraging":[148],"reasoning.":[150],"To":[151],"learn":[152],"automatically,":[155],"our":[156],"distills":[158],"knowledge":[159,180],"large":[161],"unstructured":[162],"textual":[163,184],"corpora":[164],"training":[166],"model.":[169],"results":[171],"show":[172],"feasibility":[174],"learning":[178],"web-based":[183],"corpora,":[185],"power":[188],"learned":[190],"models":[193],"enabling":[195],"autonomously":[199],"perform":[200],"tasks":[201],"incomplete":[204],"instructions.":[207]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":8},{"year":2022,"cited_by_count":14},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
