{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,12]],"date-time":"2026-05-12T12:50:55Z","timestamp":1778590255727,"version":"3.51.4"},"reference-count":118,"publisher":"Association for Computing Machinery (ACM)","issue":"1","license":[{"start":{"date-parts":[[2019,2,17]],"date-time":"2019-02-17T00:00:00Z","timestamp":1550361600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.acm.org\/publications\/policies\/copyright_policy#Background"}],"funder":[{"DOI":"10.13039\/100006754","name":"U.S. Army Research Laboratory","doi-asserted-by":"crossref","id":[{"id":"10.13039\/100006754","id-type":"DOI","asserted-by":"crossref"}]},{"name":"Boeing Company, a National Science Foundation Graduate Research Fellowship"}],"content-domain":{"domain":["dl.acm.org"],"crossmark-restriction":true},"short-container-title":["ACM Trans. Interact. Intell. Syst."],"published-print":{"date-parts":[[2019,3,31]]},"abstract":"<jats:p>\n            Even without speech recognition errors, robots may face difficulties interpreting natural-language instructions. We present a method for robustly handling miscommunication between people and robots in task-oriented spoken dialogue. This capability is implemented in TeamTalk, a conversational interface to robots that supports detection and recovery from the\n            <jats:italic>situated grounding problems<\/jats:italic>\n            of referential ambiguity and impossible actions. We introduce a representation that detects these problems and a nearest-neighbor learning algorithm that selects recovery strategies for a virtual robot. When the robot encounters a grounding problem, it looks back on its interaction history to consider how it resolved similar situations. The learning method is trained initially on crowdsourced data but is then supplemented by interactions from a longitudinal user study in which six participants performed navigation tasks with the robot. We compare results collected using a general model to user-specific models and find that user-specific models perform best on measures of dialogue efficiency, while the general model yields the highest agreement with human judges. Our overall contribution is a novel approach to detecting and recovering from miscommunication in dialogue by including situated context, namely, information from a robot\u2019s path planner and surroundings.\n          <\/jats:p>","DOI":"10.1145\/3237189","type":"journal-article","created":{"date-parts":[[2019,2,19]],"date-time":"2019-02-19T20:54:15Z","timestamp":1550609655000},"page":"1-40","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":22,"title":["Miscommunication Detection and Recovery in Situated Human\u2013Robot Dialogue"],"prefix":"10.1145","volume":"9","author":[{"given":"Matthew","family":"Marge","sequence":"first","affiliation":[{"name":"U.S. Army Research Laboratory, Adelphi, MD"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2044-8446","authenticated-orcid":false,"given":"Alexander I.","family":"Rudnicky","sequence":"additional","affiliation":[{"name":"Carnegie Mellon University"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"320","published-online":{"date-parts":[[2019,2,17]]},"reference":[{"key":"e_1_2_1_1_1","doi-asserted-by":"publisher","DOI":"10.1177\/002383099103400404"},{"key":"e_1_2_1_2_1","volume-title":"Proceedings of the 1st European Workshop on Human Comfort and Security.","author":"Antoniol Giulio","year":"1994"},{"key":"e_1_2_1_3_1","doi-asserted-by":"publisher","DOI":"10.1162\/tacl_a_00209"},{"key":"e_1_2_1_4_1","doi-asserted-by":"publisher","DOI":"10.1109\/5254.956081"},{"key":"e_1_2_1_5_1","doi-asserted-by":"publisher","DOI":"10.1109\/KIMAS.2005.1427075"},{"key":"e_1_2_1_6_1","volume-title":"Proceedings of the 5th International Conference on Spoken Language Processing (ICSLP\u201998)","author":"Bansal Dhananjay"},{"key":"e_1_2_1_7_1","doi-asserted-by":"publisher","DOI":"10.1177\/0278364917691112"},{"key":"e_1_2_1_8_1","doi-asserted-by":"publisher","DOI":"10.3115\/1072133.1072177"},{"key":"e_1_2_1_9_1","doi-asserted-by":"publisher","DOI":"10.18653\/v1\/N16-1089"},{"key":"e_1_2_1_11_1","volume-title":"Proceedings of the AAAI Fall Symposium on Dialog with Robots.","author":"Bohus Dan","year":"2010"},{"key":"e_1_2_1_12_1","volume-title":"Proceedings of the NAACL-HLT Workshop on Bridging the Gap: Academic and Industrial Research in Dialog Technologies.","author":"Bohus Dan"},{"key":"e_1_2_1_13_1","volume-title":"Rudnicky","author":"Bohus Dan","year":"2002"},{"key":"e_1_2_1_14_1","doi-asserted-by":"publisher","DOI":"10.5555\/1518321.1518367"},{"key":"e_1_2_1_15_1","volume-title":"Proceedings of the 13th International Conference on Autonomous Agents and Multiagent Systems (AAMAS\u201914)","author":"Bohus Dan","year":"2014"},{"key":"e_1_2_1_16_1","volume-title":"Proceedings of the 25th International Joint Conference on Artificial Intelligence (IJCAI\u201916)","author":"Boularias Abdeslam","year":"2016"},{"key":"e_1_2_1_17_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICASSP.1999.758170"},{"key":"e_1_2_1_18_1","doi-asserted-by":"publisher","DOI":"10.1147\/sj.41.0025"},{"key":"e_1_2_1_19_1","doi-asserted-by":"publisher","DOI":"10.1177\/0278364917706418"},{"key":"e_1_2_1_20_1","volume-title":"Proceedings of Intelligent Autonomous Systems.","author":"Bugmann Guido","year":"2004"},{"key":"e_1_2_1_21_1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2016.2624754"},{"key":"e_1_2_1_22_1","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2007.363180"},{"key":"e_1_2_1_23_1","doi-asserted-by":"publisher","DOI":"10.18653\/v1\/W15-4603"},{"key":"e_1_2_1_24_1","doi-asserted-by":"publisher","DOI":"10.1609\/aimag.v37i4.2684"},{"key":"e_1_2_1_26_1","volume-title":"Proceedings of the 25th AAAI Conference on Artificial Intelligence (AAAI\u201911)","author":"David"},{"key":"e_1_2_1_27_1","volume-title":"Using Language","author":"Clark Herbert H."},{"key":"e_1_2_1_28_1","volume-title":"Brennan","author":"Clark Herbert H.","year":"1991"},{"key":"e_1_2_1_29_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICASSP.1996.541145"},{"key":"e_1_2_1_30_1","doi-asserted-by":"publisher","DOI":"10.5898\/JHRI.2.2.Deits"},{"key":"e_1_2_1_31_1","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-23778-7_25"},{"key":"e_1_2_1_32_1","doi-asserted-by":"publisher","DOI":"10.5555\/1703775.1704055"},{"key":"e_1_2_1_33_1","volume-title":"Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS\u201913)","author":"Fasola Juan"},{"key":"e_1_2_1_34_1","doi-asserted-by":"crossref","unstructured":"Terrence Fong Charles Thorpe and Charles Baur. 2003. Collaboration dialogue and human-robot interaction. In Robotics Research. 255--266.  Terrence Fong Charles Thorpe and Charles Baur. 2003. Collaboration dialogue and human-robot interaction. In Robotics Research. 255--266.","DOI":"10.1007\/3-540-36460-9_17"},{"key":"e_1_2_1_35_1","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-47437-3_74"},{"key":"e_1_2_1_36_1","doi-asserted-by":"publisher","DOI":"10.5555\/1661445.1661737"},{"key":"e_1_2_1_37_1","doi-asserted-by":"publisher","DOI":"10.1145\/1228716.1228727"},{"key":"e_1_2_1_39_1","volume-title":"Proceedings of the 7th International Conference on Spoken Language Processing (ICSLP\u201902)","author":"Gorrell Genevieve","year":"2002"},{"key":"e_1_2_1_40_1","volume-title":"The Hidden Dimension","author":"Hall Edward T."},{"key":"e_1_2_1_41_1","doi-asserted-by":"publisher","DOI":"10.5555\/646419.693652"},{"key":"e_1_2_1_42_1","doi-asserted-by":"publisher","DOI":"10.1016\/0167-2789(90)90087-6"},{"key":"e_1_2_1_43_1","volume-title":"Proceedings of the 22nd National Conference on Artificial Intelligence (AAAI\u201907)","author":"Thomas"},{"key":"e_1_2_1_44_1","doi-asserted-by":"publisher","DOI":"10.1080\/01621459.1977.10480998"},{"key":"e_1_2_1_45_1","volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation (ICRA\u201915)","author":"Hemachandra Sachithra"},{"key":"e_1_2_1_46_1","doi-asserted-by":"publisher","DOI":"10.18653\/v1\/W16-3637"},{"key":"e_1_2_1_47_1","volume-title":"Proceedings of the IEEE International Conference on Acoustics, Speech, and Signal Processing (ICASSP\u201906)","author":"Huggins-Daines David"},{"key":"e_1_2_1_48_1","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-015-9460-1"},{"key":"e_1_2_1_49_1","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-540-30475-3_17"},{"key":"e_1_2_1_50_1","doi-asserted-by":"publisher","DOI":"10.5555\/1734454.1734553"},{"key":"e_1_2_1_51_1","volume-title":"Proceedings of Towards Autonomous Robotic Systems (TAROS\u201909)","author":"Koulouri Theodora","year":"2009"},{"key":"e_1_2_1_52_1","doi-asserted-by":"publisher","DOI":"10.1023\/A:1009648614566"},{"key":"e_1_2_1_53_1","doi-asserted-by":"publisher","DOI":"10.1162\/tacl_a_00220"},{"key":"e_1_2_1_54_1","volume-title":"Proceedings of the Symposium on Language and Robots.","author":"Kruijff Geert-Jan M."},{"key":"e_1_2_1_55_1","volume-title":"Situated dialogue processing for human-robot interaction. Cognitive Systems","author":"Kruijff Geert-Jan M.","year":"2010"},{"key":"e_1_2_1_56_1","doi-asserted-by":"publisher","DOI":"10.5772\/5701"},{"key":"e_1_2_1_57_1","doi-asserted-by":"publisher","DOI":"10.1109\/ROMAN.2002.1045626"},{"key":"e_1_2_1_58_1","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2010.5649547"},{"key":"e_1_2_1_59_1","doi-asserted-by":"publisher","DOI":"10.1007\/s12369-011-0123-x"},{"key":"e_1_2_1_60_1","volume-title":"Proceedings of the 2nd North American Chapter of the Association for Computational Linguistics Conference (NAACL\u201901)","author":"Lemon Oliver","year":"2001"},{"key":"e_1_2_1_61_1","unstructured":"Patrick Lester. 2005. A* Pathfinding for Beginners. https:\/\/www.gamedev.net\/articles\/programming\/artificial-intelligence\/a-pathfinding-for-beginners-r2003\/.  Patrick Lester. 2005. A* Pathfinding for Beginners. https:\/\/www.gamedev.net\/articles\/programming\/artificial-intelligence\/a-pathfinding-for-beginners-r2003\/."},{"key":"e_1_2_1_62_1","doi-asserted-by":"publisher","DOI":"10.1109\/TSMCB.2006.889809"},{"key":"e_1_2_1_63_1","doi-asserted-by":"publisher","DOI":"10.5555\/974305.974334"},{"key":"e_1_2_1_64_1","doi-asserted-by":"publisher","DOI":"10.1145\/2522848.2522873"},{"key":"e_1_2_1_65_1","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2015.XI.018"},{"key":"e_1_2_1_66_1","volume-title":"Proceedings of the 21st National Conference on Artificial Intelligence (AAAI\u201906)","author":"MacMahon Matt","year":"2006"},{"key":"e_1_2_1_68_1","volume-title":"Proceedings of Robots, Games, and Research: Success Stories in USARSim IROS Workshop.","author":"Marge Matthew"},{"key":"e_1_2_1_69_1","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2011.VII.027"},{"key":"e_1_2_1_70_1","volume-title":"Proceedings of the 11th Annual Meeting of the Special Interest Group on Discourse and Dialogue (SIGdial\u201910)","author":"Marge Matthew"},{"key":"e_1_2_1_71_1","volume-title":"Proceedings of the RSS Workshop on Grounding Human-Robot Dialog for Spatial Tasks.","author":"Marge Matthew"},{"key":"e_1_2_1_72_1","volume-title":"Proceedings of the AAAI Fall Symposium on Building Representations of Common Ground with Intelligent Agents.","author":"Marge Matthew"},{"key":"e_1_2_1_73_1","volume-title":"Proceedings of the 16th Annual Meeting of the Special Interest Group on Discourse and Dialogue (SIGdial\u201915)","author":"Marge Matthew"},{"key":"e_1_2_1_74_1","doi-asserted-by":"publisher","DOI":"10.5555\/1734454.1734552"},{"key":"e_1_2_1_75_1","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-00065-7_28"},{"key":"e_1_2_1_76_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2014.09.031"},{"key":"e_1_2_1_77_1","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2006.282258"},{"key":"e_1_2_1_78_1","doi-asserted-by":"publisher","DOI":"10.18653\/v1\/W15-4647"},{"key":"e_1_2_1_79_1","doi-asserted-by":"publisher","DOI":"10.21437\/Interspeech.2012-73"},{"key":"e_1_2_1_80_1","volume-title":"Data-driven models for timing feedback responses in a map task dialogue system. Computer Speech 8 Language 28, 4","author":"Meena Raveesh","year":"2014"},{"key":"e_1_2_1_81_1","volume-title":"Proceedings of the 30th AAAI Conference on Artificial Intelligence (AAAI\u201916)","author":"Mei Hongyuan"},{"key":"e_1_2_1_82_1","doi-asserted-by":"crossref","volume-title":"Machine Learning","author":"Mitchell Tom M.","DOI":"10.1007\/978-1-4613-2279-5"},{"key":"e_1_2_1_83_1","doi-asserted-by":"publisher","DOI":"10.1109\/TPAMI.2014.2321376"},{"key":"e_1_2_1_84_1","volume-title":"Proceedings of the 15th Conference of the European Chapter of the Association for Computational Linguistics (EACL\u201917)","author":"Padmakumar Aishwarya"},{"key":"e_1_2_1_85_1","volume-title":"Proceedings of the ISCA Workshop on Error Handling in Spoken Dialogue Systems.","author":"Paek Tim","year":"2003"},{"key":"e_1_2_1_86_1","doi-asserted-by":"publisher","DOI":"10.1145\/3029798.3034820"},{"key":"e_1_2_1_87_1","volume-title":"Proceedings of the 13th Annual Meeting of the Special Interest Group on Discourse and Dialogue (SIGdial\u201912)","author":"Pappu Aasish"},{"key":"e_1_2_1_88_1","doi-asserted-by":"publisher","DOI":"10.5555\/2832249.2832412"},{"key":"e_1_2_1_89_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICSMC.2003.1244386"},{"key":"e_1_2_1_90_1","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2013.IX.023"},{"key":"e_1_2_1_91_1","volume-title":"Proceedings of the Human Language Technology Conference of the North American Chapter of the Association for Computational Linguistics (HLT-NAACL\u201904)","author":"Raux Antoine","year":"2004"},{"key":"e_1_2_1_92_1","doi-asserted-by":"publisher","DOI":"10.5555\/1622064.1622066"},{"key":"e_1_2_1_93_1","volume-title":"Proceedings of the Neural Information Processing Systems Conference (NIPS\u201915)","author":"Ren Shaoqing","year":"2015"},{"key":"e_1_2_1_94_1","volume-title":"Proceedings of the 9th International Conference on Autonomous Agents and Multiagent Systems (AAMAS\u201910)","author":"Rosenthal Stephanie","year":"2010"},{"key":"e_1_2_1_95_1","volume-title":"Proceedings of the AAAI Fall Symposium on Dialog with Robots.","author":"Rudnicky Alexander I.","year":"2010"},{"key":"e_1_2_1_96_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICASSP.2000.859190"},{"key":"e_1_2_1_97_1","doi-asserted-by":"publisher","DOI":"10.1609\/aimag.v32i4.2381"},{"key":"e_1_2_1_98_1","volume-title":"Proceedings of the 5th SIGdial Workshop on Discourse and Dialogue (SIGdial\u201904)","author":"Schlangen David","year":"2004"},{"key":"e_1_2_1_99_1","doi-asserted-by":"crossref","unstructured":"Michael F. Schober. 2009. Spatial dialogue between partners with mismatched abilities. Spatial Language and Dialogue. 23--39.  Michael F. Schober. 2009. Spatial dialogue between partners with mismatched abilities. Spatial Language and Dialogue. 23--39.","DOI":"10.1093\/acprof:oso\/9780199554201.003.0003"},{"key":"e_1_2_1_100_1","doi-asserted-by":"publisher","DOI":"10.5555\/1708155.1708169"},{"key":"e_1_2_1_101_1","volume-title":"A survey of available corpora for building data-driven dialogue systems: The journal version. Dialogue and Discourse 9, 1","author":"Serban Iulian Vlad","year":"2018"},{"key":"e_1_2_1_102_1","first-page":"33","article-title":"Modelling route instructions for robust human-robot interaction on navigation tasks","volume":"2","author":"Shi Hui","year":"2008","journal-title":"International Journal of Software and Informatics"},{"key":"e_1_2_1_103_1","volume-title":"Telling Rolland where to go: HRI dialogues on route navigation. Spatial Language and Dialogue","author":"Shi Hui","year":"2009"},{"key":"e_1_2_1_104_1","doi-asserted-by":"publisher","DOI":"10.5555\/1661445.1661684"},{"key":"e_1_2_1_105_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.specom.2004.11.005"},{"key":"e_1_2_1_107_1","volume-title":"Proceedings of the 8th SIGdial Workshop on Discourse and Dialogue (SIGdial\u201907)","author":"Skantze Gabriel","year":"2007"},{"key":"e_1_2_1_108_1","doi-asserted-by":"publisher","DOI":"10.1109\/TSMCC.2004.826273"},{"key":"e_1_2_1_109_1","volume-title":"Proceedings of the European Workshop on Service and Humanoid Robots.","author":"Spiliotopoulos Dimitris"},{"key":"e_1_2_1_110_1","volume-title":"Proceedings of the Language Resources and Evaluation Conference (LREC\u201908)","author":"Stoia Laura","year":"2008"},{"key":"e_1_2_1_111_1","volume-title":"Proceedings of the 25th AAAI Conference on Artificial Intelligence (AAAI\u201911)","author":"Tellex Stefanie","year":"2011"},{"key":"e_1_2_1_112_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.jvlc.2010.07.001"},{"key":"e_1_2_1_113_1","doi-asserted-by":"publisher","DOI":"10.1177\/0278364913481635"},{"key":"e_1_2_1_114_1","doi-asserted-by":"publisher","DOI":"10.5555\/2832415.2832516"},{"key":"e_1_2_1_115_1","doi-asserted-by":"crossref","unstructured":"Andrea Vanzo Danilo Croce Emanuele Bastianelli Guglielmo Gemignani Roberto Basili and Daniele Nardi. 2017. Dialogue with robots to support symbiotic autonomy. In Dialogues with Social Robots. 331--342.  Andrea Vanzo Danilo Croce Emanuele Bastianelli Guglielmo Gemignani Roberto Basili and Daniele Nardi. 2017. Dialogue with robots to support symbiotic autonomy. In Dialogues with Social Robots. 331--342.","DOI":"10.1007\/978-981-10-2585-3_27"},{"key":"e_1_2_1_116_1","unstructured":"Leslie Versweyveld. 1998. Voice-controlled surgical robot ready to assist in minimally invasive heart surgery. Virtual Medical Worlds Monthly.  Leslie Versweyveld. 1998. Voice-controlled surgical robot ready to assist in minimally invasive heart surgery. Virtual Medical Worlds Monthly."},{"key":"e_1_2_1_117_1","doi-asserted-by":"publisher","DOI":"10.5555\/1858681.1858764"},{"key":"e_1_2_1_118_1","volume-title":"Evaluating spoken dialogue agents with PARADISE: Two case studies. Computer Speech 8 Language 12, 4","author":"Walker Marilyn A.","year":"1998"},{"key":"e_1_2_1_119_1","doi-asserted-by":"publisher","DOI":"10.1207\/s15516709cog2805_8"},{"key":"e_1_2_1_120_1","volume-title":"Proceedings of the 17th International Conference on Machine Learning (ICML\u201900)","author":"Walker Marilyn A.","year":"2000"},{"key":"e_1_2_1_121_1","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2017.XIII.017"},{"key":"e_1_2_1_122_1","volume-title":"Dempster-Shafer theoretic resolution of referential ambiguity. Autonomous Robots","author":"Williams Tom","year":"2018"},{"key":"e_1_2_1_123_1","volume-title":"Proceedings of the AAAI Fall Symposium on Psychological Models of Communication in Collaborative Systems.","author":"Zollo Teresa","year":"1999"}],"container-title":["ACM Transactions on Interactive Intelligent Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3237189","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/dl.acm.org\/doi\/pdf\/10.1145\/3237189","content-type":"application\/pdf","content-version":"vor","intended-application":"syndication"},{"URL":"https:\/\/dl.acm.org\/doi\/pdf\/10.1145\/3237189","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,6,18]],"date-time":"2025-06-18T01:39:34Z","timestamp":1750210774000},"score":1,"resource":{"primary":{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3237189"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2019,2,17]]},"references-count":118,"journal-issue":{"issue":"1","published-print":{"date-parts":[[2019,3,31]]}},"alternative-id":["10.1145\/3237189"],"URL":"https:\/\/doi.org\/10.1145\/3237189","relation":{},"ISSN":["2160-6455","2160-6463"],"issn-type":[{"value":"2160-6455","type":"print"},{"value":"2160-6463","type":"electronic"}],"subject":[],"published":{"date-parts":[[2019,2,17]]},"assertion":[{"value":"2018-04-01","order":0,"name":"received","label":"Received","group":{"name":"publication_history","label":"Publication History"}},{"value":"2018-10-01","order":1,"name":"accepted","label":"Accepted","group":{"name":"publication_history","label":"Publication History"}},{"value":"2019-02-17","order":2,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}]}}