Comparing Spoken Language Route Instructions for Robots across Environment Representations Matthew Marge author Alexander Rudnicky author 2010-09 text Proceedings of the SIGDIAL 2010 Conference Yasuhiro Katagiri editor Mikio Nakano editor Association for Computational Linguistics Tokyo, Japan conference publication marge-rudnicky-2010-comparing https://aclanthology.org/W10-4328/ 2010-09 157 164