Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Grounding Spatio-Semantic Referring Expressions for Human-Robot
  Interaction   The human language is one of the most natural interfaces for humans to
interact with robots. This paper presents a robot system that retrieves
everyday objects with unconstrained natural language descriptions. A core issue
for the system is semantic and spatial grounding, which is to infer objects and
their spatial relationships from images and natural language expressions. We
introduce a two-stage neural-network grounding pipeline that maps natural
language referring expressions directly to objects in the images. The first
stage uses visual descriptions in the referring expressions to generate a
candidate set of relevant objects. The second stage examines all pairwise
relationships between the candidates and predicts the most likely referred
object according to the spatial descriptions in the referring expressions. A
key feature of our system is that by leveraging a large dataset of images
labeled with text descriptions, it allows unrestricted object types and natural
language referring expressions. Preliminary results indicate that our system
outperforms a near state-of-the-art object comprehension system on standard
benchmark datasets. We also present a robot system that follows voice commands
to pick and place previously unseen objects.

20
The categories of this paper are: acc-phys
6
The categories of this paper are: astro-ph
32
The categories of this paper are: atom-ph
31
The categories of this paper are: ao-sci
36
The categories of this paper are: cmp-lg
3
The categories of this paper are: physics
25
The categories of this paper are: patt-sol
27
The categories of this paper are: comp-gas
5
The categories of this paper are: gr-qc
17
The categories of this paper are: q-fin
23
The categories of this paper are: solv-int
2
The categories of this paper are: math
24
The categories of this paper are: dg-ga
26
The categories of this paper are: bayes-an
29
The categories of this paper are: funct-an
7
The categories of this paper are: hep-th