{"id":"https://openalex.org/W2550322026","doi":"https://doi.org/10.1109/roman.2016.7745089","title":"Spatial references and perspective in natural language instructions for collaborative manipulation","display_name":"Spatial references and perspective in natural language instructions for collaborative manipulation","publication_year":2016,"publication_date":"2016-08-01","ids":{"openalex":"https://openalex.org/W2550322026","doi":"https://doi.org/10.1109/roman.2016.7745089","mag":"2550322026"},"language":"en","primary_location":{"id":"doi:10.1109/roman.2016.7745089","is_oa":false,"landing_page_url":"https://doi.org/10.1109/roman.2016.7745089","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 25th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN)","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/A5104910007","display_name":"Shen Li","orcid":"https://orcid.org/0000-0003-2947-3787"},"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":true,"raw_author_name":"Shen Li","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, Pittsburgh, PA"],"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032670399","display_name":"Rosario Scalise","orcid":"https://orcid.org/0009-0008-1288-9907"},"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":"Rosario Scalise","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, Pittsburgh, PA"],"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061653312","display_name":"Henny Admoni","orcid":"https://orcid.org/0000-0003-1796-2196"},"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":"Henny Admoni","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, Pittsburgh, PA"],"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086237721","display_name":"Stephanie Rosenthal","orcid":"https://orcid.org/0000-0002-7583-4590"},"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":"Stephanie Rosenthal","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, Pittsburgh, PA"],"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5077719529","display_name":"Siddhartha S Srinivasa","orcid":"https://orcid.org/0000-0002-5091-106X"},"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":"Siddhartha S. Srinivasa","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, Pittsburgh, PA"],"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5104910007"],"corresponding_institution_ids":["https://openalex.org/I74973139"],"apc_list":null,"apc_paid":null,"fwci":4.7132,"has_fulltext":false,"cited_by_count":34,"citation_normalized_percentile":{"value":0.95432389,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"44","last_page":"51"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12031","display_name":"Speech and dialogue systems","score":0.9962999820709229,"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/T12031","display_name":"Speech and dialogue systems","score":0.9962999820709229,"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":0.9891999959945679,"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/T11904","display_name":"Spatial Cognition and Navigation","score":0.9891999959945679,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/perspective","display_name":"Perspective (graphical)","score":0.8054797053337097},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7790367603302002},{"id":"https://openalex.org/keywords/clarity","display_name":"CLARITY","score":0.6912134885787964},{"id":"https://openalex.org/keywords/spatial-relation","display_name":"Spatial relation","score":0.6712828874588013},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.597434937953949},{"id":"https://openalex.org/keywords/sentence","display_name":"Sentence","score":0.550032913684845},{"id":"https://openalex.org/keywords/spatial-intelligence","display_name":"Spatial intelligence","score":0.5055046081542969},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.49607691168785095},{"id":"https://openalex.org/keywords/spatial-analysis","display_name":"Spatial analysis","score":0.49413517117500305},{"id":"https://openalex.org/keywords/natural-language","display_name":"Natural language","score":0.4831832945346832},{"id":"https://openalex.org/keywords/table","display_name":"Table (database)","score":0.46624889969825745},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4344038963317871},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4273393154144287},{"id":"https://openalex.org/keywords/word","display_name":"Word (group theory)","score":0.42357468605041504},{"id":"https://openalex.org/keywords/perspective-taking","display_name":"Perspective-taking","score":0.4228574335575104},{"id":"https://openalex.org/keywords/spatial-ability","display_name":"Spatial ability","score":0.4228416085243225},{"id":"https://openalex.org/keywords/natural-language-processing","display_name":"Natural language processing","score":0.40110647678375244},{"id":"https://openalex.org/keywords/linguistics","display_name":"Linguistics","score":0.18292030692100525},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.14748188853263855},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.11492189764976501},{"id":"https://openalex.org/keywords/cognition","display_name":"Cognition","score":0.09544610977172852}],"concepts":[{"id":"https://openalex.org/C12713177","wikidata":"https://www.wikidata.org/wiki/Q1900281","display_name":"Perspective (graphical)","level":2,"score":0.8054797053337097},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7790367603302002},{"id":"https://openalex.org/C2777146004","wikidata":"https://www.wikidata.org/wiki/Q14949826","display_name":"CLARITY","level":2,"score":0.6912134885787964},{"id":"https://openalex.org/C27511587","wikidata":"https://www.wikidata.org/wiki/Q2178623","display_name":"Spatial relation","level":2,"score":0.6712828874588013},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.597434937953949},{"id":"https://openalex.org/C2777530160","wikidata":"https://www.wikidata.org/wiki/Q41796","display_name":"Sentence","level":2,"score":0.550032913684845},{"id":"https://openalex.org/C155911833","wikidata":"https://www.wikidata.org/wiki/Q3817354","display_name":"Spatial intelligence","level":2,"score":0.5055046081542969},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.49607691168785095},{"id":"https://openalex.org/C159620131","wikidata":"https://www.wikidata.org/wiki/Q1938983","display_name":"Spatial analysis","level":2,"score":0.49413517117500305},{"id":"https://openalex.org/C195324797","wikidata":"https://www.wikidata.org/wiki/Q33742","display_name":"Natural language","level":2,"score":0.4831832945346832},{"id":"https://openalex.org/C45235069","wikidata":"https://www.wikidata.org/wiki/Q278425","display_name":"Table (database)","level":2,"score":0.46624889969825745},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4344038963317871},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4273393154144287},{"id":"https://openalex.org/C90805587","wikidata":"https://www.wikidata.org/wiki/Q10944557","display_name":"Word (group theory)","level":2,"score":0.42357468605041504},{"id":"https://openalex.org/C2780342009","wikidata":"https://www.wikidata.org/wiki/Q18387795","display_name":"Perspective-taking","level":3,"score":0.4228574335575104},{"id":"https://openalex.org/C2778662690","wikidata":"https://www.wikidata.org/wiki/Q3125339","display_name":"Spatial ability","level":3,"score":0.4228416085243225},{"id":"https://openalex.org/C204321447","wikidata":"https://www.wikidata.org/wiki/Q30642","display_name":"Natural language processing","level":1,"score":0.40110647678375244},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.18292030692100525},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.14748188853263855},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.11492189764976501},{"id":"https://openalex.org/C169900460","wikidata":"https://www.wikidata.org/wiki/Q2200417","display_name":"Cognition","level":2,"score":0.09544610977172852},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C118552586","wikidata":"https://www.wikidata.org/wiki/Q7867","display_name":"Psychiatry","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C2779885105","wikidata":"https://www.wikidata.org/wiki/Q182263","display_name":"Empathy","level":2,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/roman.2016.7745089","is_oa":false,"landing_page_url":"https://doi.org/10.1109/roman.2016.7745089","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 25th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Quality Education","id":"https://metadata.un.org/sdg/4","score":0.7799999713897705}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W148899787","https://openalex.org/W1528793753","https://openalex.org/W1548078261","https://openalex.org/W1566060965","https://openalex.org/W1582045125","https://openalex.org/W1598586539","https://openalex.org/W1602500555","https://openalex.org/W1994442991","https://openalex.org/W2006354339","https://openalex.org/W2007820193","https://openalex.org/W2012844615","https://openalex.org/W2024271606","https://openalex.org/W2025807224","https://openalex.org/W2035853072","https://openalex.org/W2045437727","https://openalex.org/W2047214762","https://openalex.org/W2069809153","https://openalex.org/W2093353037","https://openalex.org/W2107537133","https://openalex.org/W2110772128","https://openalex.org/W2135023501","https://openalex.org/W2141229707","https://openalex.org/W2164138048","https://openalex.org/W2167150807","https://openalex.org/W2229480318","https://openalex.org/W2236233024","https://openalex.org/W2296135247","https://openalex.org/W2578244897","https://openalex.org/W4233091368","https://openalex.org/W6606009499","https://openalex.org/W6633747179","https://openalex.org/W6636408305","https://openalex.org/W6679641058","https://openalex.org/W6732432344"],"related_works":["https://openalex.org/W1999714552","https://openalex.org/W2367213291","https://openalex.org/W3137117987","https://openalex.org/W2940611486","https://openalex.org/W2392593703","https://openalex.org/W4301725520","https://openalex.org/W4237297985","https://openalex.org/W40476142","https://openalex.org/W1553635257","https://openalex.org/W2904978117"],"abstract_inverted_index":{"As":[0],"humans":[1],"and":[2,33,52,63,69,95,121,134,156,161],"robots":[3,75],"collaborate":[4],"together":[5],"on":[6,56,85],"spatial":[7,31,61,67,96,108,138,154,169],"tasks,":[8],"they":[9,16],"must":[10],"communicate":[11],"clearly":[12],"about":[13,102],"the":[14,28,86,122,125,135,144],"objects":[15,55],"are":[17,127],"referencing.":[18],"Communication":[19],"is":[20,24,111],"clearer":[21],"when":[22,73],"language":[23],"unambiguous":[25],"which":[26],"implies":[27],"use":[29],"of":[30,88,104,137,153,168],"references":[32,68],"explicit":[34],"perspectives.":[35],"In":[36],"this":[37],"work,":[38],"we":[39,162],"contribute":[40],"two":[41],"studies":[42],"to":[43,50,92],"understand":[44],"how":[45],"people":[46],"instruct":[47],"a":[48,57,112],"partner":[49],"identify":[51],"pick":[53],"up":[54],"table.":[58],"We":[59,80,98,146],"investigate":[60],"features":[62],"perspectives":[64,123],"in":[65,118],"human":[66],"compare":[70],"word":[71],"usage":[72],"instructing":[74,77],"vs.":[76],"other":[78],"humans.":[79],"then":[81],"focus":[82],"our":[83],"analysis":[84],"clarity":[87],"instructions":[89,105,120,126],"with":[90],"respect":[91],"perspective":[93,157],"taking":[94],"references.":[97,109,170],"find":[99],"that":[100,124,140,148],"only":[101],"42%":[103],"contain":[106],"perspective-independent":[107],"There":[110],"strong":[113],"correlation":[114],"between":[115,132],"participants'":[116],"accuracy":[117,133],"executing":[119],"given":[128],"in,":[129],"as":[130],"well":[131],"number":[136],"relations":[139,155],"were":[141],"required":[142],"for":[143,165],"instruction.":[145],"conclude":[147],"sentence":[149],"complexity":[150],"(in":[151],"terms":[152],"taking)":[158],"impacts":[159],"understanding,":[160],"provide":[163],"suggestions":[164],"automatic":[166],"generation":[167]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":7},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":5}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}