Journal
INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH
Volume 37, Issue 6, Pages 558-565Publisher
SAGE PUBLICATIONS LTD
DOI: 10.1177/0278364918760992
Keywords
Natural language; instructions; human-robot collaboration; manipulation; ambiguity; perspective; spatial reference
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Funding
- Department of Defense [FA8721-05-C-0003]
- Carnegie Mellon University
- DARPA SIMPLEX program through ARO [67904LSDRP]
- National Institute of Health R01 [R01EB019335]
- National Science Foundation CPS [1544797]
- Office of Naval Research
- Richard K. Mellon Foundation
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This paper presents a dataset of natural language instructions for object reference in manipulation scenarios. It comprises 1582 individual written instructions, which were collected via online crowdsourcing. This dataset is particularly useful for researchers who work in natural language processing, human-robot interaction, and robotic manipulation. In addition to serving as a rich corpus of domain-specific language, it provides a benchmark of image-instruction pairs to be used in system evaluations and uncovers inherent challenges in tabletop object specification. Example code is provided for easy access via Python.
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