{"id":"https://openalex.org/W2797922770","doi":"https://doi.org/10.1177/0278364918760992","title":"Natural language instructions for human\u2013robot collaborative manipulation","display_name":"Natural language instructions for human\u2013robot collaborative manipulation","publication_year":2018,"publication_date":"2018-04-11","ids":{"openalex":"https://openalex.org/W2797922770","doi":"https://doi.org/10.1177/0278364918760992","mag":"2797922770"},"language":"en","primary_location":{"id":"doi:10.1177/0278364918760992","is_oa":true,"landing_page_url":"https://doi.org/10.1177/0278364918760992","pdf_url":"https://journals.sagepub.com/doi/pdf/10.1177/0278364918760992","source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://journals.sagepub.com/doi/pdf/10.1177/0278364918760992","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","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":true,"raw_author_name":"Rosario Scalise","raw_affiliation_strings":["Personal Robotics Laboratory, Robotics Institute, Carnegie Mellon University, USA"],"affiliations":[{"raw_affiliation_string":"Personal Robotics Laboratory, Robotics Institute, Carnegie Mellon University, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","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":false,"raw_author_name":"Shen Li","raw_affiliation_strings":["Personal Robotics Laboratory, Robotics Institute, Carnegie Mellon University, USA"],"affiliations":[{"raw_affiliation_string":"Personal Robotics Laboratory, Robotics Institute, Carnegie Mellon University, USA","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":["Personal Robotics Laboratory, Robotics Institute, Carnegie Mellon University, USA"],"affiliations":[{"raw_affiliation_string":"Personal Robotics Laboratory, Robotics Institute, Carnegie Mellon University, USA","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":["Personal Robotics Laboratory, Robotics Institute, Carnegie Mellon University, USA"],"affiliations":[{"raw_affiliation_string":"Personal Robotics Laboratory, Robotics Institute, Carnegie Mellon University, USA","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":["Personal Robotics Laboratory, Robotics Institute, Carnegie Mellon University, USA"],"affiliations":[{"raw_affiliation_string":"Personal Robotics Laboratory, Robotics Institute, Carnegie Mellon University, USA","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5032670399"],"corresponding_institution_ids":["https://openalex.org/I74973139"],"apc_list":null,"apc_paid":null,"fwci":1.0623,"has_fulltext":false,"cited_by_count":33,"citation_normalized_percentile":{"value":0.82199638,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"37","issue":"6","first_page":"558","last_page":"565"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.9997000098228455,"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":0.9997000098228455,"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/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/T10028","display_name":"Topic Modeling","score":0.9986000061035156,"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/computer-science","display_name":"Computer science","score":0.8165069818496704},{"id":"https://openalex.org/keywords/python","display_name":"Python (programming language)","score":0.7058713436126709},{"id":"https://openalex.org/keywords/natural-language","display_name":"Natural language","score":0.6181602478027344},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.6176788806915283},{"id":"https://openalex.org/keywords/crowdsourcing","display_name":"Crowdsourcing","score":0.5953356027603149},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5671513080596924},{"id":"https://openalex.org/keywords/domain","display_name":"Domain (mathematical analysis)","score":0.5571606755256653},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.54328852891922},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.4702436029911041},{"id":"https://openalex.org/keywords/natural-language-processing","display_name":"Natural language processing","score":0.45076262950897217},{"id":"https://openalex.org/keywords/code","display_name":"Code (set theory)","score":0.45000365376472473},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.43630608916282654},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.4246624708175659},{"id":"https://openalex.org/keywords/world-wide-web","display_name":"World Wide Web","score":0.23381689190864563},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.09484073519706726}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8165069818496704},{"id":"https://openalex.org/C519991488","wikidata":"https://www.wikidata.org/wiki/Q28865","display_name":"Python (programming language)","level":2,"score":0.7058713436126709},{"id":"https://openalex.org/C195324797","wikidata":"https://www.wikidata.org/wiki/Q33742","display_name":"Natural language","level":2,"score":0.6181602478027344},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.6176788806915283},{"id":"https://openalex.org/C62230096","wikidata":"https://www.wikidata.org/wiki/Q275969","display_name":"Crowdsourcing","level":2,"score":0.5953356027603149},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5671513080596924},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.5571606755256653},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.54328852891922},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.4702436029911041},{"id":"https://openalex.org/C204321447","wikidata":"https://www.wikidata.org/wiki/Q30642","display_name":"Natural language processing","level":1,"score":0.45076262950897217},{"id":"https://openalex.org/C2776760102","wikidata":"https://www.wikidata.org/wiki/Q5139990","display_name":"Code (set theory)","level":3,"score":0.45000365376472473},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.43630608916282654},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.4246624708175659},{"id":"https://openalex.org/C136764020","wikidata":"https://www.wikidata.org/wiki/Q466","display_name":"World Wide Web","level":1,"score":0.23381689190864563},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.09484073519706726},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1177/0278364918760992","is_oa":true,"landing_page_url":"https://doi.org/10.1177/0278364918760992","pdf_url":"https://journals.sagepub.com/doi/pdf/10.1177/0278364918760992","source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1177/0278364918760992","is_oa":true,"landing_page_url":"https://doi.org/10.1177/0278364918760992","pdf_url":"https://journals.sagepub.com/doi/pdf/10.1177/0278364918760992","source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-article"},"sustainable_development_goals":[{"display_name":"Quality Education","id":"https://metadata.un.org/sdg/4","score":0.5699999928474426}],"awards":[{"id":"https://openalex.org/G116927039","display_name":null,"funder_award_id":"FA8721-05-C-0003","funder_id":"https://openalex.org/F4320306078","funder_display_name":"U.S. Department of Defense"},{"id":"https://openalex.org/G8563617588","display_name":null,"funder_award_id":"1544797","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320306078","display_name":"U.S. Department of Defense","ror":"https://ror.org/0447fe631"},{"id":"https://openalex.org/F4320337345","display_name":"Office of Naval Research","ror":"https://ror.org/00rk2pe57"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2797922770.pdf","grobid_xml":"https://content.openalex.org/works/W2797922770.grobid-xml"},"referenced_works_count":21,"referenced_works":["https://openalex.org/W46490633","https://openalex.org/W1534120332","https://openalex.org/W1558255252","https://openalex.org/W1967861169","https://openalex.org/W1985319867","https://openalex.org/W2007820193","https://openalex.org/W2022514589","https://openalex.org/W2037789405","https://openalex.org/W2040145958","https://openalex.org/W2045864324","https://openalex.org/W2111516378","https://openalex.org/W2111807093","https://openalex.org/W2114366548","https://openalex.org/W2118142207","https://openalex.org/W2125447031","https://openalex.org/W2151528607","https://openalex.org/W2467589492","https://openalex.org/W2474390746","https://openalex.org/W2550322026","https://openalex.org/W2598078671","https://openalex.org/W2789191325"],"related_works":["https://openalex.org/W3032998312","https://openalex.org/W135177976","https://openalex.org/W4384486036","https://openalex.org/W1503094549","https://openalex.org/W2337920774","https://openalex.org/W4286908577","https://openalex.org/W2886410948","https://openalex.org/W2025875869","https://openalex.org/W4318823662","https://openalex.org/W3207526114"],"abstract_inverted_index":{"This":[0,27],"paper":[1],"presents":[2],"a":[3,50,58],"dataset":[4,28],"of":[5,53,60],"natural":[6,37],"language":[7,38],"instructions":[8],"for":[9,32,81],"object":[10,75],"reference":[11],"in":[12,36,66,73],"manipulation":[13],"scenarios.":[14],"It":[15],"comprises":[16],"1582":[17],"individual":[18],"written":[19],"instructions,":[20],"which":[21],"were":[22],"collected":[23],"via":[24,84],"online":[25],"crowdsourcing.":[26],"is":[29,79],"particularly":[30],"useful":[31],"researchers":[33],"who":[34],"work":[35],"processing,":[39],"human\u2013robot":[40],"interaction,":[41],"and":[42,69],"robotic":[43],"manipulation.":[44],"In":[45],"addition":[46],"to":[47,63],"serving":[48],"as":[49],"rich":[51],"corpus":[52],"domain-specific":[54],"language,":[55],"it":[56],"provides":[57],"benchmark":[59],"image\u2013instruction":[61],"pairs":[62],"be":[64],"used":[65],"system":[67],"evaluations":[68],"uncovers":[70],"inherent":[71],"challenges":[72],"tabletop":[74],"specification.":[76],"Example":[77],"code":[78],"provided":[80],"easy":[82],"access":[83],"Python.":[85]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1}],"updated_date":"2026-03-10T16:38:18.471706","created_date":"2025-10-10T00:00:00"}
