{"id":"https://openalex.org/W2741718594","doi":"https://doi.org/10.18653/v1/w17-2809","title":"A Tale of Two DRAGGNs: A Hybrid Approach for Interpreting Action-Oriented and Goal-Oriented Instructions","display_name":"A Tale of Two DRAGGNs: A Hybrid Approach for Interpreting Action-Oriented and Goal-Oriented Instructions","publication_year":2017,"publication_date":"2017-01-01","ids":{"openalex":"https://openalex.org/W2741718594","doi":"https://doi.org/10.18653/v1/w17-2809","mag":"2741718594"},"language":"en","primary_location":{"id":"doi:10.18653/v1/w17-2809","is_oa":true,"landing_page_url":"https://doi.org/10.18653/v1/w17-2809","pdf_url":"https://www.aclweb.org/anthology/W17-2809.pdf","source":null,"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the First Workshop on Language Grounding for Robotics","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.aclweb.org/anthology/W17-2809.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5066892638","display_name":"Siddharth Karamcheti","orcid":"https://orcid.org/0000-0003-2153-2455"},"institutions":[{"id":"https://openalex.org/I27804330","display_name":"Brown University","ror":"https://ror.org/05gq02987","country_code":"US","type":"education","lineage":["https://openalex.org/I27804330"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Siddharth Karamcheti","raw_affiliation_strings":["Department of Computer Science, Brown University, Providence, RI 02912","Brown University, Providence, United States"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Brown University, Providence, RI 02912","institution_ids":["https://openalex.org/I27804330"]},{"raw_affiliation_string":"Brown University, Providence, United States","institution_ids":["https://openalex.org/I27804330"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110575233","display_name":"Edward Williams","orcid":"https://orcid.org/0000-0002-5812-2831"},"institutions":[{"id":"https://openalex.org/I27804330","display_name":"Brown University","ror":"https://ror.org/05gq02987","country_code":"US","type":"education","lineage":["https://openalex.org/I27804330"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Edward Clem Williams","raw_affiliation_strings":["Department of Computer Science, Brown University, Providence, RI 02912","Brown University, Providence, United States"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Brown University, Providence, RI 02912","institution_ids":["https://openalex.org/I27804330"]},{"raw_affiliation_string":"Brown University, Providence, United States","institution_ids":["https://openalex.org/I27804330"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075792734","display_name":"Dilip Arumugam","orcid":null},"institutions":[{"id":"https://openalex.org/I27804330","display_name":"Brown University","ror":"https://ror.org/05gq02987","country_code":"US","type":"education","lineage":["https://openalex.org/I27804330"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dilip Arumugam","raw_affiliation_strings":["Department of Computer Science, Brown University, Providence, RI 02912","Brown University, Providence, United States"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Brown University, Providence, RI 02912","institution_ids":["https://openalex.org/I27804330"]},{"raw_affiliation_string":"Brown University, Providence, United States","institution_ids":["https://openalex.org/I27804330"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020731969","display_name":"Mina Rhee","orcid":null},"institutions":[{"id":"https://openalex.org/I27804330","display_name":"Brown University","ror":"https://ror.org/05gq02987","country_code":"US","type":"education","lineage":["https://openalex.org/I27804330"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mina Rhee","raw_affiliation_strings":["Department of Computer Science, Brown University, Providence, RI 02912","Brown University, Providence, United States"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Brown University, Providence, RI 02912","institution_ids":["https://openalex.org/I27804330"]},{"raw_affiliation_string":"Brown University, Providence, United States","institution_ids":["https://openalex.org/I27804330"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089421543","display_name":"Nakul Gopalan","orcid":"https://orcid.org/0000-0002-6947-5501"},"institutions":[{"id":"https://openalex.org/I27804330","display_name":"Brown University","ror":"https://ror.org/05gq02987","country_code":"US","type":"education","lineage":["https://openalex.org/I27804330"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nakul Gopalan","raw_affiliation_strings":["Department of Computer Science, Brown University, Providence, RI 02912","Brown University, Providence, United States"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Brown University, Providence, RI 02912","institution_ids":["https://openalex.org/I27804330"]},{"raw_affiliation_string":"Brown University, Providence, United States","institution_ids":["https://openalex.org/I27804330"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032791503","display_name":"Lawson L. S. Wong","orcid":"https://orcid.org/0000-0002-9944-7587"},"institutions":[{"id":"https://openalex.org/I27804330","display_name":"Brown University","ror":"https://ror.org/05gq02987","country_code":"US","type":"education","lineage":["https://openalex.org/I27804330"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Lawson L.S. Wong","raw_affiliation_strings":["Department of Computer Science, Brown University, Providence, RI 02912","Brown University, Providence, United States"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Brown University, Providence, RI 02912","institution_ids":["https://openalex.org/I27804330"]},{"raw_affiliation_string":"Brown University, Providence, United States","institution_ids":["https://openalex.org/I27804330"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5059273574","display_name":"Stefanie Tellex","orcid":"https://orcid.org/0000-0002-2905-4075"},"institutions":[{"id":"https://openalex.org/I27804330","display_name":"Brown University","ror":"https://ror.org/05gq02987","country_code":"US","type":"education","lineage":["https://openalex.org/I27804330"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Stefanie Tellex","raw_affiliation_strings":["Department of Computer Science, Brown University, Providence, RI 02912","Brown University, Providence, United States"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Brown University, Providence, RI 02912","institution_ids":["https://openalex.org/I27804330"]},{"raw_affiliation_string":"Brown University, Providence, United States","institution_ids":["https://openalex.org/I27804330"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.8261,"has_fulltext":true,"cited_by_count":4,"citation_normalized_percentile":{"value":0.80655031,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"67","last_page":"75"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10028","display_name":"Topic Modeling","score":0.9990000128746033,"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":0.9990000128746033,"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":0.9980999827384949,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9950000047683716,"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":0.8000213503837585},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.7269918918609619},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.6867757439613342},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.6111820936203003},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.570044755935669},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.5672697424888611},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5392578840255737},{"id":"https://openalex.org/keywords/natural-language","display_name":"Natural language","score":0.5044797658920288},{"id":"https://openalex.org/keywords/natural-language-understanding","display_name":"Natural language understanding","score":0.5032395720481873},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.4428884983062744},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4348001480102539},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.2806991934776306},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.07681679725646973}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8000213503837585},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.7269918918609619},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.6867757439613342},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.6111820936203003},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.570044755935669},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.5672697424888611},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5392578840255737},{"id":"https://openalex.org/C195324797","wikidata":"https://www.wikidata.org/wiki/Q33742","display_name":"Natural language","level":2,"score":0.5044797658920288},{"id":"https://openalex.org/C2779439875","wikidata":"https://www.wikidata.org/wiki/Q1078276","display_name":"Natural language understanding","level":3,"score":0.5032395720481873},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.4428884983062744},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4348001480102539},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.2806991934776306},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.07681679725646973},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","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":4,"locations":[{"id":"doi:10.18653/v1/w17-2809","is_oa":true,"landing_page_url":"https://doi.org/10.18653/v1/w17-2809","pdf_url":"https://www.aclweb.org/anthology/W17-2809.pdf","source":null,"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the First Workshop on Language Grounding for Robotics","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:1707.08668","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1707.08668","pdf_url":"https://arxiv.org/pdf/1707.08668","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"},{"id":"mag:2741718594","is_oa":true,"landing_page_url":"https://arxiv.org/pdf/1707.08668.pdf","pdf_url":null,"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":"arXiv (Cornell University)","raw_type":null},{"id":"doi:10.48550/arxiv.1707.08668","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.1707.08668","pdf_url":null,"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":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"doi:10.18653/v1/w17-2809","is_oa":true,"landing_page_url":"https://doi.org/10.18653/v1/w17-2809","pdf_url":"https://www.aclweb.org/anthology/W17-2809.pdf","source":null,"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the First Workshop on Language Grounding for Robotics","raw_type":"proceedings-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2741718594.pdf","grobid_xml":"https://content.openalex.org/works/W2741718594.grobid-xml"},"referenced_works_count":16,"referenced_works":["https://openalex.org/W46490633","https://openalex.org/W1522301498","https://openalex.org/W2007820193","https://openalex.org/W2064675550","https://openalex.org/W2076337359","https://openalex.org/W2099217059","https://openalex.org/W2111526438","https://openalex.org/W2119567691","https://openalex.org/W2236233024","https://openalex.org/W2277684984","https://openalex.org/W2474390746","https://openalex.org/W2758731390","https://openalex.org/W2952716067","https://openalex.org/W2953103321","https://openalex.org/W2964217371","https://openalex.org/W4285719527"],"related_works":["https://openalex.org/W2962822926","https://openalex.org/W2277684984","https://openalex.org/W2229480318","https://openalex.org/W2770089303","https://openalex.org/W2889438493","https://openalex.org/W2942916333","https://openalex.org/W2808642296","https://openalex.org/W3089576187","https://openalex.org/W2762362435","https://openalex.org/W2953103321","https://openalex.org/W2186167886","https://openalex.org/W2549733625","https://openalex.org/W2967180672","https://openalex.org/W2181376216","https://openalex.org/W2234280832","https://openalex.org/W3132674002","https://openalex.org/W3103282518","https://openalex.org/W3176020136","https://openalex.org/W280268183","https://openalex.org/W2767661932"],"abstract_inverted_index":{"Robots":[0],"operating":[1],"alongside":[2],"humans":[3],"in":[4],"diverse,":[5],"stochastic":[6],"environments":[7],"must":[8],"be":[9,83],"able":[10],"to":[11,43,70,86,119,140],"accurately":[12],"interpret":[13],"natural":[14,110,142],"language":[15,111,143],"commands.":[16,89],"These":[17],"instructions":[18],"often":[19],"fall":[20],"into":[21],"one":[22],"of":[23,58,66],"two":[24],"categories:":[25],"those":[26,36],"that":[27,37,108,126],"specify":[28,38],"a":[29,45,55,67,72,92,127],"goal":[30],"condition":[31],"or":[32,41],"target":[33],"state,":[34],"and":[35,106,117,133],"explicit":[39],"actions,":[40],"how":[42],"perform":[44],"given":[46,76],"task.":[47,77],"Recent":[48],"approaches":[49],"have":[50],"used":[51,85],"reward":[52,80],"functions":[53,81],"as":[54,115],"semantic":[56],"representation":[57],"goal-based":[59],"commands,":[60],"which":[61],"allows":[62],"for":[63,74,103,145],"the":[64,75,96],"use":[65],"state-of-the-art":[68],"planner":[69],"find":[71],"policy":[73],"However,":[78],"these":[79],"cannot":[82],"directly":[84],"represent":[87],"action-oriented":[88,134],"We":[90],"introduce":[91],"new":[93],"hybrid":[94],"approach,":[95],"Deep":[97],"Recurrent":[98],"Action-Goal":[99],"Grounding":[100],"Network":[101],"(DRAGGN),":[102],"task":[104,135],"grounding":[105],"execution":[107],"handles":[109],"from":[112],"either":[113],"category":[114],"input,":[116],"generalizes":[118],"unseen":[120],"environments.":[121],"Our":[122],"robotsimulation":[123],"results":[124],"demonstrate":[125],"system":[128],"successfully":[129],"interpreting":[130],"both":[131],"goaloriented":[132],"specifications":[136],"brings":[137],"us":[138],"closer":[139],"robust":[141],"understanding":[144],"human-robot":[146],"interaction.":[147]},"counts_by_year":[{"year":2020,"cited_by_count":3},{"year":2018,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}