Comparing Objective and Subjective Measures of Usability in a Human-Robot Dialogue System Mary Ellen Foster author Manuel Giuliani author Alois Knoll author 2009-08 text Proceedings of the Joint Conference of the 47th Annual Meeting of the ACL and the 4th International Joint Conference on Natural Language Processing of the AFNLP Keh-Yih Su editor Jian Su editor Janyce Wiebe editor Haizhou Li editor Association for Computational Linguistics Suntec, Singapore conference publication foster-etal-2009-comparing https://aclanthology.org/P09-1099/ 2009-08 879 887