{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/improving-grounded-natural-language","title":"Improving Grounded Natural Language Understanding through Human-Robot Dialog","arxiv_id":"1903.00122","date":"2019-03-01","proceeding":null,"authors":["Jesse Thomason","Aishwarya Padmakumar","Jivko Sinapov","Nick Walker","Yuqian Jiang","Harel Yedidsion","Justin Hart","Peter Stone","Raymond J. Mooney"],"abstract":"Natural language understanding for robotics can require substantial domain-\nand platform-specific engineering. For example, for mobile robots to\npick-and-place objects in an environment to satisfy human commands, we can\nspecify the language humans use to issue such commands, and connect concept\nwords like red can to physical object properties. One way to alleviate this\nengineering for a new domain is to enable robots in human environments to adapt\ndynamically---continually learning new language constructions and perceptual\nconcepts. In this work, we present an end-to-end pipeline for translating\nnatural language commands to discrete robot actions, and use clarification\ndialogs to jointly improve language parsing and concept grounding. We train and\nevaluate this agent in a virtual setting on Amazon Mechanical Turk, and we\ntransfer the learned agent to a physical robot platform to demonstrate it in\nthe real world.","url_abs":"http://arxiv.org/abs/1903.00122v1","url_pdf":"http://arxiv.org/pdf/1903.00122v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"improving-grounded-natural-language","repo_url":"https://github.com/thomason-jesse/grounded_dialog_agent","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":0,"framework":"pytorch","reach":null}],"tasks":[{"task_slug":"natural-language-understanding","task_name":"Natural Language Understanding"}],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":"https://app.syntology.ai/?focus=1903.00122","mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}