%0 Journal Article
%T Natural language instructions for human¨Crobot collaborative manipulation
%A Henny Admoni
%A Rosario Scalise
%A Shen Li
%A Siddhartha S Srinivasa
%A Stephanie Rosenthal
%J The International Journal of Robotics Research
%@ 1741-3176
%D 2018
%R 10.1177/0278364918760992
%X 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¨Crobot interaction, and robotic manipulation. In addition to serving as a rich corpus of domain-specific language, it provides a benchmark of image¨Cinstruction pairs to be used in system evaluations and uncovers inherent challenges in tabletop object specification. Example code is provided for easy access via Python
%K Natural language
%K instructions
%K human¨Crobot collaboration
%K manipulation
%K ambiguity
%K perspective
%K spatial reference
%U https://journals.sagepub.com/doi/full/10.1177/0278364918760992