Document Type

Conference Paper


Available under a Creative Commons Attribution Non-Commercial Share Alike 4.0 International Licence


Computer Sciences

Publication Details

Workshop on Spatial Reasoning and Interaction for Real-World Robotics at the International Conference on Intelligent Robots and Systems 2015 (


We performed an experiment in which human participants interacted through a natural language dialogue interface with a simulated robot to fulfil a series of object manipulation tasks. We introduced errors into the robot’s perception, and observed the resulting problems in the dialogues and their resolutions. We then introduced different methods for the user to request information about the robot’s understanding of the environment. In this work, we describe the effects that the robot’s perceptual errors and the information request options available to the participant had on the reformulation of the referring expressions the participants used when resolving a unsuccessful reference.