Jointly Learning to Parse and Perceive: Connecting Natural Language to the Physical World Jayant Krishnamurthy author Thomas Kollar author 2013 text journal article Transactions of the Association for Computational Linguistics continuing MIT Press Cambridge, MA periodical academic journal krishnamurthy-kollar-2013-jointly 10.1162/tacl_a_00220 https://aclanthology.org/Q13-1016/ 2013 1 193 206