id	sid	tid	token	lemma	pos
dad-13359	1	1	dialogue	dialogue	PROPN
dad-13359	1	2	&	&	CCONJ
dad-13359	1	3	discourse	discourse	PROPN
dad-13359	1	4	16(3	16(3	PROPN
dad-13359	1	5	)	)	PUNCT
dad-13359	1	6	(	(	PUNCT
dad-13359	1	7	2025	2025	NUM
dad-13359	1	8	)	)	PUNCT
dad-13359	1	9	60–95	60–95	NUM
dad-13359	1	10	doi	doi	NOUN
dad-13359	1	11	:	:	PUNCT
dad-13359	1	12	10.5210	10.5210	NUM
dad-13359	1	13	/	/	SYM
dad-13359	1	14	dad.2025.304	dad.2025.304	PROPN
dad-13359	1	15	a	a	DET
dad-13359	1	16	graph	graph	NOUN
dad-13359	1	17	-	-	PUNCT
dad-13359	1	18	to	to	ADP
dad-13359	1	19	-	-	PUNCT
dad-13359	1	20	text	text	NOUN
dad-13359	1	21	approach	approach	NOUN
dad-13359	1	22	to	to	ADP
dad-13359	1	23	knowledge	knowledge	NOUN
dad-13359	1	24	-	-	PUNCT
dad-13359	1	25	grounded	ground	VERB
dad-13359	1	26	response	response	NOUN
dad-13359	1	27	generation	generation	NOUN
dad-13359	1	28	in	in	ADP
dad-13359	1	29	human	human	ADJ
dad-13359	1	30	–	–	PUNCT
dad-13359	1	31	robot	robot	NOUN
dad-13359	1	32	interaction	interaction	NOUN
dad-13359	1	33	nicholas	nicholas	PROPN
dad-13359	1	34	thomas	thomas	PROPN
dad-13359	1	35	walker	walker	PROPN
dad-13359	2	1	nicholas.walker@uni-bamberg.de	nicholas.walker@uni-bamberg.de	PROPN
dad-13359	2	2	norwegian	norwegian	ADJ
dad-13359	2	3	computing	computing	NOUN
dad-13359	2	4	center	center	PROPN
dad-13359	2	5	stefan	stefan	PROPN
dad-13359	2	6	ultes	ultes	PROPN
dad-13359	2	7	stefan.ultes@uni-bamberg.de	stefan.ultes@uni-bamberg.de	PROPN
dad-13359	2	8	university	university	PROPN
dad-13359	2	9	of	of	ADP
dad-13359	2	10	bamberg	bamberg	PROPN
dad-13359	2	11	pierre	pierre	PROPN
dad-13359	2	12	lison	lison	NOUN
dad-13359	2	13	plison@nr.no	plison@nr.no	ADP
dad-13359	2	14	norwegian	norwegian	ADJ
dad-13359	2	15	computing	computing	NOUN
dad-13359	2	16	center	center	NOUN
dad-13359	2	17	editor	editor	NOUN
dad-13359	2	18	:	:	PUNCT
dad-13359	2	19	hendrik	hendrik	PROPN
dad-13359	2	20	buschmeier	buschmeier	NOUN
dad-13359	2	21	submitted	submit	VERB
dad-13359	2	22	11/2023	11/2023	NUM
dad-13359	2	23	;	;	PUNCT
dad-13359	2	24	accepted	accept	VERB
dad-13359	2	25	11/2025	11/2025	NUM
dad-13359	2	26	;	;	PUNCT
dad-13359	2	27	published	publish	VERB
dad-13359	2	28	online	online	ADJ
dad-13359	2	29	12/2025	12/2025	NUM
dad-13359	2	30	abstract	abstract	ADJ
dad-13359	2	31	knowledge	knowledge	NOUN
dad-13359	2	32	graphs	graph	NOUN
dad-13359	2	33	are	be	AUX
dad-13359	2	34	often	often	ADV
dad-13359	2	35	used	use	VERB
dad-13359	2	36	to	to	PART
dad-13359	2	37	represent	represent	VERB
dad-13359	2	38	structured	structured	ADJ
dad-13359	2	39	information	information	NOUN
dad-13359	2	40	in	in	ADP
dad-13359	2	41	a	a	DET
dad-13359	2	42	flexible	flexible	ADJ
dad-13359	2	43	and	and	CCONJ
dad-13359	2	44	efficient	efficient	ADJ
dad-13359	2	45	manner	manner	NOUN
dad-13359	2	46	,	,	PUNCT
dad-13359	2	47	but	but	CCONJ
dad-13359	2	48	their	their	PRON
dad-13359	2	49	use	use	NOUN
dad-13359	2	50	in	in	ADP
dad-13359	2	51	situated	situated	ADJ
dad-13359	2	52	dialogue	dialogue	NOUN
dad-13359	2	53	remains	remain	VERB
dad-13359	2	54	under	under	ADV
dad-13359	2	55	-	-	PUNCT
dad-13359	2	56	explored	explore	VERB
dad-13359	2	57	.	.	PUNCT
dad-13359	3	1	this	this	DET
dad-13359	3	2	paper	paper	NOUN
dad-13359	3	3	presents	present	VERB
dad-13359	3	4	a	a	DET
dad-13359	3	5	novel	novel	ADJ
dad-13359	3	6	conversational	conversational	ADJ
dad-13359	3	7	model	model	NOUN
dad-13359	3	8	for	for	ADP
dad-13359	3	9	human	human	ADJ
dad-13359	3	10	–	–	PUNCT
dad-13359	3	11	robot	robot	NOUN
dad-13359	3	12	interaction	interaction	NOUN
dad-13359	3	13	that	that	PRON
dad-13359	3	14	rests	rest	VERB
dad-13359	3	15	upon	upon	SCONJ
dad-13359	3	16	a	a	DET
dad-13359	3	17	graph	graph	NOUN
dad-13359	3	18	-	-	PUNCT
dad-13359	3	19	based	base	VERB
dad-13359	3	20	representation	representation	NOUN
dad-13359	3	21	of	of	ADP
dad-13359	3	22	the	the	DET
dad-13359	3	23	dialogue	dialogue	NOUN
dad-13359	3	24	state	state	NOUN
dad-13359	3	25	.	.	PUNCT
dad-13359	4	1	the	the	DET
dad-13359	4	2	knowledge	knowledge	NOUN
dad-13359	4	3	graph	graph	NOUN
dad-13359	4	4	representing	represent	VERB
dad-13359	4	5	the	the	DET
dad-13359	4	6	dialogue	dialogue	NOUN
dad-13359	4	7	state	state	NOUN
dad-13359	4	8	is	be	AUX
dad-13359	4	9	continuously	continuously	ADV
dad-13359	4	10	updated	update	VERB
dad-13359	4	11	with	with	ADP
dad-13359	4	12	new	new	ADJ
dad-13359	4	13	observations	observation	NOUN
dad-13359	4	14	from	from	ADP
dad-13359	4	15	the	the	DET
dad-13359	4	16	robot	robot	NOUN
dad-13359	4	17	sensors	sensor	NOUN
dad-13359	4	18	,	,	PUNCT
dad-13359	4	19	including	include	VERB
dad-13359	4	20	linguistic	linguistic	ADJ
dad-13359	4	21	,	,	PUNCT
dad-13359	4	22	situated	situated	ADJ
dad-13359	4	23	and	and	CCONJ
dad-13359	4	24	multimodal	multimodal	NOUN
dad-13359	4	25	inputs	input	NOUN
dad-13359	4	26	,	,	PUNCT
dad-13359	4	27	and	and	CCONJ
dad-13359	4	28	is	be	AUX
dad-13359	4	29	further	far	ADV
dad-13359	4	30	enriched	enrich	VERB
dad-13359	4	31	by	by	ADP
dad-13359	4	32	other	other	ADJ
dad-13359	4	33	modules	module	NOUN
dad-13359	4	34	,	,	PUNCT
dad-13359	4	35	in	in	ADP
dad-13359	4	36	particular	particular	ADJ
dad-13359	4	37	for	for	ADP
dad-13359	4	38	spatial	spatial	ADJ
dad-13359	4	39	understanding	understanding	NOUN
dad-13359	4	40	.	.	PUNCT
dad-13359	5	1	the	the	DET
dad-13359	5	2	neural	neural	ADJ
dad-13359	5	3	conversational	conversational	ADJ
dad-13359	5	4	model	model	NOUN
dad-13359	5	5	employed	employ	VERB
dad-13359	5	6	to	to	PART
dad-13359	5	7	respond	respond	VERB
dad-13359	5	8	to	to	ADP
dad-13359	5	9	user	user	NOUN
dad-13359	5	10	utterances	utterance	NOUN
dad-13359	5	11	relies	rely	VERB
dad-13359	5	12	on	on	ADP
dad-13359	5	13	a	a	DET
dad-13359	5	14	simple	simple	ADJ
dad-13359	5	15	but	but	CCONJ
dad-13359	5	16	effective	effective	ADJ
dad-13359	5	17	graph	graph	NOUN
dad-13359	5	18	-	-	PUNCT
dad-13359	5	19	to	to	ADP
dad-13359	5	20	-	-	PUNCT
dad-13359	5	21	text	text	NOUN
dad-13359	5	22	mechanism	mechanism	NOUN
dad-13359	5	23	that	that	PRON
dad-13359	5	24	traverses	traverse	VERB
dad-13359	5	25	the	the	DET
dad-13359	5	26	dialogue	dialogue	NOUN
dad-13359	5	27	state	state	NOUN
dad-13359	5	28	graph	graph	NOUN
dad-13359	5	29	and	and	CCONJ
dad-13359	5	30	converts	convert	VERB
dad-13359	5	31	the	the	DET
dad-13359	5	32	traversals	traversal	NOUN
dad-13359	5	33	into	into	ADP
dad-13359	5	34	a	a	DET
dad-13359	5	35	natural	natural	ADJ
dad-13359	5	36	language	language	NOUN
dad-13359	5	37	form	form	NOUN
dad-13359	5	38	.	.	PUNCT
dad-13359	6	1	this	this	DET
dad-13359	6	2	conversion	conversion	NOUN
dad-13359	6	3	of	of	ADP
dad-13359	6	4	the	the	DET
dad-13359	6	5	state	state	NOUN
dad-13359	6	6	graph	graph	NOUN
dad-13359	6	7	into	into	ADP
dad-13359	6	8	text	text	NOUN
dad-13359	6	9	is	be	AUX
dad-13359	6	10	performed	perform	VERB
dad-13359	6	11	using	use	VERB
dad-13359	6	12	a	a	DET
dad-13359	6	13	set	set	NOUN
dad-13359	6	14	of	of	ADP
dad-13359	6	15	parameterized	parameterized	ADJ
dad-13359	6	16	functions	function	NOUN
dad-13359	6	17	,	,	PUNCT
dad-13359	6	18	and	and	CCONJ
dad-13359	6	19	the	the	DET
dad-13359	6	20	values	value	NOUN
dad-13359	6	21	for	for	ADP
dad-13359	6	22	those	those	DET
dad-13359	6	23	parameters	parameter	NOUN
dad-13359	6	24	are	be	AUX
dad-13359	6	25	optimized	optimize	VERB
dad-13359	6	26	based	base	VERB
dad-13359	6	27	on	on	ADP
dad-13359	6	28	a	a	DET
dad-13359	6	29	small	small	ADJ
dad-13359	6	30	set	set	NOUN
dad-13359	6	31	of	of	ADP
dad-13359	6	32	wizard	wizard	NOUN
dad-13359	6	33	-	-	PUNCT
dad-13359	6	34	of	of	ADP
dad-13359	6	35	-	-	PUNCT
dad-13359	6	36	oz	oz	NOUN
dad-13359	6	37	interactions	interaction	NOUN
dad-13359	6	38	.	.	PUNCT
dad-13359	7	1	after	after	ADP
dad-13359	7	2	this	this	DET
dad-13359	7	3	conversion	conversion	NOUN
dad-13359	7	4	,	,	PUNCT
dad-13359	7	5	the	the	DET
dad-13359	7	6	text	text	NOUN
dad-13359	7	7	representation	representation	NOUN
dad-13359	7	8	of	of	ADP
dad-13359	7	9	the	the	DET
dad-13359	7	10	dialogue	dialogue	NOUN
dad-13359	7	11	state	state	NOUN
dad-13359	7	12	graph	graph	NOUN
dad-13359	7	13	is	be	AUX
dad-13359	7	14	included	include	VERB
dad-13359	7	15	as	as	ADP
dad-13359	7	16	part	part	NOUN
dad-13359	7	17	of	of	ADP
dad-13359	7	18	the	the	DET
dad-13359	7	19	prompt	prompt	NOUN
dad-13359	7	20	of	of	ADP
dad-13359	7	21	a	a	DET
dad-13359	7	22	large	large	ADJ
dad-13359	7	23	language	language	NOUN
dad-13359	7	24	model	model	NOUN
dad-13359	7	25	used	use	VERB
dad-13359	7	26	to	to	PART
dad-13359	7	27	decode	decode	VERB
dad-13359	7	28	the	the	DET
dad-13359	7	29	agent	agent	NOUN
dad-13359	7	30	response	response	NOUN
dad-13359	7	31	.	.	PUNCT
dad-13359	8	1	the	the	DET
dad-13359	8	2	proposed	propose	VERB
dad-13359	8	3	approach	approach	NOUN
dad-13359	8	4	is	be	AUX
dad-13359	8	5	empirically	empirically	ADV
dad-13359	8	6	evaluated	evaluate	VERB
dad-13359	8	7	through	through	ADP
dad-13359	8	8	a	a	DET
dad-13359	8	9	user	user	NOUN
dad-13359	8	10	study	study	NOUN
dad-13359	8	11	with	with	ADP
dad-13359	8	12	a	a	DET
dad-13359	8	13	humanoid	humanoid	NOUN
dad-13359	8	14	robot	robot	NOUN
dad-13359	8	15	that	that	PRON
dad-13359	8	16	acts	act	VERB
dad-13359	8	17	as	as	ADP
dad-13359	8	18	conversation	conversation	ADJ
dad-13359	8	19	partner	partner	NOUN
dad-13359	8	20	to	to	PART
dad-13359	8	21	evaluate	evaluate	VERB
dad-13359	8	22	the	the	DET
dad-13359	8	23	impact	impact	NOUN
dad-13359	8	24	of	of	ADP
dad-13359	8	25	the	the	DET
dad-13359	8	26	graph	graph	NOUN
dad-13359	8	27	-	-	PUNCT
dad-13359	8	28	to	to	ADP
dad-13359	8	29	-	-	PUNCT
dad-13359	8	30	text	text	NOUN
dad-13359	8	31	mechanism	mechanism	NOUN
dad-13359	8	32	on	on	ADP
dad-13359	8	33	the	the	DET
dad-13359	8	34	response	response	NOUN
dad-13359	8	35	generation	generation	NOUN
dad-13359	8	36	.	.	PUNCT
dad-13359	9	1	after	after	ADP
dad-13359	9	2	moving	move	VERB
dad-13359	9	3	a	a	DET
dad-13359	9	4	robot	robot	NOUN
dad-13359	9	5	along	along	ADP
dad-13359	9	6	a	a	DET
dad-13359	9	7	tour	tour	NOUN
dad-13359	9	8	of	of	ADP
dad-13359	9	9	an	an	DET
dad-13359	9	10	indoor	indoor	ADJ
dad-13359	9	11	environment	environment	NOUN
dad-13359	9	12	,	,	PUNCT
dad-13359	9	13	participants	participant	NOUN
dad-13359	9	14	interacted	interact	VERB
dad-13359	9	15	with	with	ADP
dad-13359	9	16	the	the	DET
dad-13359	9	17	robot	robot	NOUN
dad-13359	9	18	using	use	VERB
dad-13359	9	19	spoken	spoken	ADJ
dad-13359	9	20	dialogue	dialogue	NOUN
dad-13359	9	21	and	and	CCONJ
dad-13359	9	22	evaluated	evaluate	VERB
dad-13359	9	23	how	how	SCONJ
dad-13359	9	24	well	well	ADV
dad-13359	9	25	the	the	DET
dad-13359	9	26	robot	robot	NOUN
dad-13359	9	27	was	be	AUX
dad-13359	9	28	able	able	ADJ
dad-13359	9	29	to	to	PART
dad-13359	9	30	answer	answer	VERB
dad-13359	9	31	questions	question	NOUN
dad-13359	9	32	about	about	ADP
dad-13359	9	33	what	what	PRON
dad-13359	9	34	the	the	DET
dad-13359	9	35	robot	robot	NOUN
dad-13359	9	36	observed	observe	VERB
dad-13359	9	37	during	during	ADP
dad-13359	9	38	the	the	DET
dad-13359	9	39	tour	tour	NOUN
dad-13359	9	40	.	.	PUNCT
dad-13359	10	1	user	user	NOUN
dad-13359	10	2	scores	score	NOUN
dad-13359	10	3	suggest	suggest	VERB
dad-13359	10	4	an	an	DET
dad-13359	10	5	improvement	improvement	NOUN
dad-13359	10	6	in	in	ADP
dad-13359	10	7	the	the	DET
dad-13359	10	8	perceived	perceive	VERB
dad-13359	10	9	factuality	factuality	NOUN
dad-13359	10	10	of	of	ADP
dad-13359	10	11	the	the	DET
dad-13359	10	12	robot	robot	NOUN
dad-13359	10	13	responses	response	NOUN
dad-13359	10	14	when	when	SCONJ
dad-13359	10	15	the	the	DET
dad-13359	10	16	graph	graph	NOUN
dad-13359	10	17	-	-	PUNCT
dad-13359	10	18	to	to	ADP
dad-13359	10	19	-	-	PUNCT
dad-13359	10	20	text	text	NOUN
dad-13359	10	21	approach	approach	NOUN
dad-13359	10	22	is	be	AUX
dad-13359	10	23	employed	employ	VERB
dad-13359	10	24	compared	compare	VERB
dad-13359	10	25	to	to	ADP
dad-13359	10	26	a	a	DET
dad-13359	10	27	baseline	baseline	NOUN
dad-13359	10	28	using	use	VERB
dad-13359	10	29	inputs	input	NOUN
dad-13359	10	30	structured	structure	VERB
dad-13359	10	31	as	as	ADP
dad-13359	10	32	semantic	semantic	ADJ
dad-13359	10	33	triples	triple	NOUN
dad-13359	10	34	.	.	PUNCT
dad-13359	11	1	keywords	keyword	NOUN
dad-13359	11	2	:	:	PUNCT
dad-13359	11	3	dialogue	dialogue	NOUN
dad-13359	11	4	management	management	NOUN
dad-13359	11	5	,	,	PUNCT
dad-13359	11	6	human	human	ADJ
dad-13359	11	7	-	-	PUNCT
dad-13359	11	8	robot	robot	NOUN
dad-13359	11	9	interaction	interaction	NOUN
dad-13359	11	10	,	,	PUNCT
dad-13359	11	11	large	large	ADJ
dad-13359	11	12	language	language	NOUN
dad-13359	11	13	models	model	NOUN
dad-13359	11	14	,	,	PUNCT
dad-13359	11	15	graphs	graph	NOUN
dad-13359	11	16	,	,	PUNCT
dad-13359	11	17	task	task	NOUN
dad-13359	11	18	-	-	PUNCT
dad-13359	11	19	oriented	orient	VERB
dad-13359	11	20	dialogue	dialogue	NOUN
dad-13359	11	21	1	1	NUM
dad-13359	11	22	.	.	PUNCT
dad-13359	12	1	introduction	introduction	NOUN
dad-13359	12	2	recent	recent	ADJ
dad-13359	12	3	advances	advance	NOUN
dad-13359	12	4	in	in	ADP
dad-13359	12	5	nlp	nlp	NOUN
dad-13359	12	6	have	have	AUX
dad-13359	12	7	made	make	VERB
dad-13359	12	8	large	large	ADJ
dad-13359	12	9	strides	stride	NOUN
dad-13359	12	10	in	in	ADP
dad-13359	12	11	improving	improve	VERB
dad-13359	12	12	the	the	DET
dad-13359	12	13	conversational	conversational	ADJ
dad-13359	12	14	abilities	ability	NOUN
dad-13359	12	15	of	of	ADP
dad-13359	12	16	dialogue	dialogue	NOUN
dad-13359	12	17	systems	system	NOUN
dad-13359	12	18	(	(	PUNCT
dad-13359	12	19	bommasani	bommasani	NOUN
dad-13359	12	20	et	et	PROPN
dad-13359	12	21	al	al	PROPN
dad-13359	12	22	.	.	PROPN
dad-13359	12	23	,	,	PUNCT
dad-13359	12	24	2021	2021	NUM
dad-13359	12	25	)	)	PUNCT
dad-13359	12	26	.	.	PUNCT
dad-13359	13	1	large	large	ADJ
dad-13359	13	2	language	language	NOUN
dad-13359	13	3	models	model	NOUN
dad-13359	13	4	(	(	PUNCT
dad-13359	13	5	llms	llm	NOUN
dad-13359	13	6	)	)	PUNCT
dad-13359	13	7	based	base	VERB
dad-13359	13	8	on	on	ADP
dad-13359	13	9	the	the	DET
dad-13359	13	10	transformer	transformer	NOUN
dad-13359	13	11	architecture	architecture	NOUN
dad-13359	13	12	(	(	PUNCT
dad-13359	13	13	vaswani	vaswani	X
dad-13359	13	14	et	et	PROPN
dad-13359	13	15	al	al	PROPN
dad-13359	13	16	.	.	PROPN
dad-13359	13	17	,	,	PUNCT
dad-13359	13	18	2017	2017	NUM
dad-13359	13	19	)	)	PUNCT
dad-13359	13	20	have	have	AUX
dad-13359	13	21	become	become	VERB
dad-13359	13	22	the	the	DET
dad-13359	13	23	foundation	foundation	NOUN
dad-13359	13	24	for	for	ADP
dad-13359	13	25	a	a	DET
dad-13359	13	26	large	large	ADJ
dad-13359	13	27	range	range	NOUN
dad-13359	13	28	of	of	ADP
dad-13359	13	29	conversational	conversational	ADJ
dad-13359	13	30	agents	agent	NOUN
dad-13359	13	31	,	,	PUNCT
dad-13359	13	32	both	both	DET
dad-13359	13	33	task	task	NOUN
dad-13359	13	34	-	-	PUNCT
dad-13359	13	35	oriented	orient	VERB
dad-13359	13	36	(	(	PUNCT
dad-13359	13	37	hosseini	hosseini	PROPN
dad-13359	13	38	-	-	PUNCT
dad-13359	13	39	asl	asl	PROPN
dad-13359	13	40	et	et	NOUN
dad-13359	13	41	al	al	PROPN
dad-13359	13	42	.	.	PROPN
dad-13359	13	43	,	,	PUNCT
dad-13359	13	44	2020	2020	NUM
dad-13359	13	45	;	;	PUNCT
dad-13359	13	46	peng	peng	PROPN
dad-13359	13	47	et	et	PROPN
dad-13359	13	48	al	al	PROPN
dad-13359	13	49	.	.	PROPN
dad-13359	13	50	,	,	PUNCT
dad-13359	13	51	2020	2020	NUM
dad-13359	13	52	;	;	PUNCT
dad-13359	13	53	nekvinda	nekvinda	PRON
dad-13359	13	54	and	and	CCONJ
dad-13359	13	55	dušek	dušek	NOUN
dad-13359	13	56	,	,	PUNCT
dad-13359	13	57	2022	2022	NUM
dad-13359	13	58	)	)	PUNCT
dad-13359	13	59	and	and	CCONJ
dad-13359	13	60	open	open	ADJ
dad-13359	13	61	-	-	PUNCT
dad-13359	13	62	domain	domain	NOUN
dad-13359	13	63	(	(	PUNCT
dad-13359	13	64	zhang	zhang	X
dad-13359	13	65	et	et	PROPN
dad-13359	13	66	al	al	PROPN
dad-13359	13	67	.	.	PROPN
dad-13359	13	68	,	,	PUNCT
dad-13359	13	69	2020	2020	NUM
dad-13359	13	70	;	;	PUNCT
dad-13359	13	71	roller	roller	NOUN
dad-13359	13	72	et	et	NOUN
dad-13359	13	73	al	al	PROPN
dad-13359	13	74	.	.	PROPN
dad-13359	13	75	,	,	PUNCT
dad-13359	13	76	2021	2021	NUM
dad-13359	13	77	;	;	PUNCT
dad-13359	13	78	thoppilan	thoppilan	PROPN
dad-13359	13	79	et	et	PROPN
dad-13359	13	80	al	al	PROPN
dad-13359	13	81	.	.	PROPN
dad-13359	13	82	,	,	PUNCT
dad-13359	13	83	2022	2022	NUM
dad-13359	13	84	)	)	PUNCT
dad-13359	13	85	.	.	PUNCT
dad-13359	14	1	these	these	DET
dad-13359	14	2	advances	advance	NOUN
dad-13359	14	3	have	have	AUX
dad-13359	14	4	also	also	ADV
dad-13359	14	5	raised	raise	VERB
dad-13359	14	6	questions	question	NOUN
dad-13359	14	7	about	about	ADP
dad-13359	14	8	the	the	DET
dad-13359	14	9	capability	capability	NOUN
dad-13359	14	10	of	of	ADP
dad-13359	14	11	these	these	DET
dad-13359	14	12	models	model	NOUN
dad-13359	14	13	to	to	PART
dad-13359	14	14	perform	perform	VERB
dad-13359	14	15	tasks	task	NOUN
dad-13359	14	16	and	and	CCONJ
dad-13359	14	17	reason	reason	NOUN
dad-13359	14	18	about	about	ADP
dad-13359	14	19	©	©	PROPN
dad-13359	14	20	2025	2025	NUM
dad-13359	14	21	nicholas	nicholas	PROPN
dad-13359	14	22	thomas	thomas	PROPN
dad-13359	14	23	walker	walker	PROPN
dad-13359	14	24	,	,	PUNCT
dad-13359	14	25	stefan	stefan	PROPN
dad-13359	14	26	ultes	ultes	PROPN
dad-13359	14	27	,	,	PUNCT
dad-13359	14	28	and	and	CCONJ
dad-13359	14	29	pierre	pierre	NOUN
dad-13359	14	30	lison	lison	NOUN
dad-13359	14	31	this	this	PRON
dad-13359	14	32	is	be	AUX
dad-13359	14	33	an	an	DET
dad-13359	14	34	open	open	ADJ
dad-13359	14	35	-	-	PUNCT
dad-13359	14	36	access	access	NOUN
dad-13359	14	37	article	article	NOUN
dad-13359	14	38	distributed	distribute	VERB
dad-13359	14	39	under	under	ADP
dad-13359	14	40	the	the	DET
dad-13359	14	41	terms	term	NOUN
dad-13359	14	42	of	of	ADP
dad-13359	14	43	a	a	DET
dad-13359	14	44	creative	creative	ADJ
dad-13359	14	45	commons	common	NOUN
dad-13359	14	46	attribution	attribution	NOUN
dad-13359	14	47	license	license	NOUN
dad-13359	14	48	(	(	PUNCT
dad-13359	14	49	http	http	NOUN
dad-13359	14	50	:	:	PUNCT
dad-13359	14	51	//creativecommons.org	//creativecommons.org	SYM
dad-13359	14	52	/	/	SYM
dad-13359	14	53	licenses	license	NOUN
dad-13359	14	54	/	/	SYM
dad-13359	14	55	by/3.0/	by/3.0/	NOUN
dad-13359	14	56	)	)	PUNCT
dad-13359	14	57	.	.	PUNCT
dad-13359	15	1	a	a	DET
dad-13359	15	2	graph	graph	NOUN
dad-13359	15	3	-	-	PUNCT
dad-13359	15	4	to	to	ADP
dad-13359	15	5	-	-	PUNCT
dad-13359	15	6	text	text	NOUN
dad-13359	15	7	approach	approach	NOUN
dad-13359	15	8	to	to	ADP
dad-13359	15	9	knowledge	knowledge	NOUN
dad-13359	15	10	-	-	PUNCT
dad-13359	15	11	grounded	ground	VERB
dad-13359	15	12	response	response	NOUN
dad-13359	15	13	generation	generation	NOUN
dad-13359	15	14	in	in	ADP
dad-13359	15	15	hri	hri	PROPN
dad-13359	15	16	information	information	NOUN
dad-13359	15	17	(	(	PUNCT
dad-13359	15	18	valmeekam	valmeekam	PROPN
dad-13359	15	19	et	et	PROPN
dad-13359	15	20	al	al	PROPN
dad-13359	15	21	.	.	PROPN
dad-13359	15	22	,	,	PUNCT
dad-13359	15	23	2022	2022	NUM
dad-13359	15	24	)	)	PUNCT
dad-13359	15	25	.	.	PUNCT
dad-13359	16	1	numerous	numerous	ADJ
dad-13359	16	2	investigations	investigation	NOUN
dad-13359	16	3	into	into	ADP
dad-13359	16	4	the	the	DET
dad-13359	16	5	reasoning	reasoning	NOUN
dad-13359	16	6	capabilities	capability	NOUN
dad-13359	16	7	of	of	ADP
dad-13359	16	8	llms	llm	NOUN
dad-13359	16	9	have	have	AUX
dad-13359	16	10	resulted	result	VERB
dad-13359	16	11	in	in	ADP
dad-13359	16	12	evidence	evidence	NOUN
dad-13359	16	13	of	of	ADP
dad-13359	16	14	their	their	PRON
dad-13359	16	15	abilities	ability	NOUN
dad-13359	16	16	in	in	ADP
dad-13359	16	17	some	some	DET
dad-13359	16	18	areas	area	NOUN
dad-13359	16	19	(	(	PUNCT
dad-13359	16	20	bubeck	bubeck	NOUN
dad-13359	16	21	et	et	PROPN
dad-13359	16	22	al	al	PROPN
dad-13359	16	23	.	.	PROPN
dad-13359	16	24	,	,	PUNCT
dad-13359	16	25	2023	2023	NUM
dad-13359	16	26	)	)	PUNCT
dad-13359	16	27	,	,	PUNCT
dad-13359	16	28	while	while	SCONJ
dad-13359	16	29	indicating	indicate	VERB
dad-13359	16	30	shortcomings	shortcoming	NOUN
dad-13359	16	31	in	in	ADP
dad-13359	16	32	others	other	NOUN
dad-13359	16	33	(	(	PUNCT
dad-13359	16	34	shi	shi	PROPN
dad-13359	16	35	et	et	PROPN
dad-13359	16	36	al	al	PROPN
dad-13359	16	37	.	.	PROPN
dad-13359	16	38	,	,	PUNCT
dad-13359	16	39	2023	2023	NUM
dad-13359	16	40	;	;	PUNCT
dad-13359	16	41	ullman	ullman	NOUN
dad-13359	16	42	,	,	PUNCT
dad-13359	16	43	2023	2023	NUM
dad-13359	16	44	)	)	PUNCT
dad-13359	16	45	.	.	PUNCT
dad-13359	17	1	meanwhile	meanwhile	ADV
dad-13359	17	2	,	,	PUNCT
dad-13359	17	3	there	there	PRON
dad-13359	17	4	is	be	VERB
dad-13359	17	5	a	a	DET
dad-13359	17	6	continuing	continue	VERB
dad-13359	17	7	interest	interest	NOUN
dad-13359	17	8	and	and	CCONJ
dad-13359	17	9	ongoing	ongoing	ADJ
dad-13359	17	10	work	work	NOUN
dad-13359	17	11	in	in	ADP
dad-13359	17	12	human	human	ADJ
dad-13359	17	13	-	-	PUNCT
dad-13359	17	14	robot	robot	NOUN
dad-13359	17	15	interaction	interaction	NOUN
dad-13359	17	16	(	(	PUNCT
dad-13359	17	17	hri	hri	PROPN
dad-13359	17	18	)	)	PUNCT
dad-13359	17	19	using	use	VERB
dad-13359	17	20	large	large	ADJ
dad-13359	17	21	language	language	NOUN
dad-13359	17	22	models	model	NOUN
dad-13359	17	23	.	.	PUNCT
dad-13359	18	1	a	a	DET
dad-13359	18	2	central	central	ADJ
dad-13359	18	3	question	question	NOUN
dad-13359	18	4	in	in	ADP
dad-13359	18	5	this	this	DET
dad-13359	18	6	vein	vein	NOUN
dad-13359	18	7	of	of	ADP
dad-13359	18	8	research	research	NOUN
dad-13359	18	9	is	be	AUX
dad-13359	18	10	how	how	SCONJ
dad-13359	18	11	information	information	NOUN
dad-13359	18	12	about	about	ADP
dad-13359	18	13	a	a	DET
dad-13359	18	14	robot	robot	NOUN
dad-13359	18	15	’s	’s	PART
dad-13359	18	16	environment	environment	NOUN
dad-13359	18	17	from	from	ADP
dad-13359	18	18	different	different	ADJ
dad-13359	18	19	modalities	modality	NOUN
dad-13359	18	20	can	can	AUX
dad-13359	18	21	be	be	AUX
dad-13359	18	22	effectively	effectively	ADV
dad-13359	18	23	combined	combine	VERB
dad-13359	18	24	with	with	ADP
dad-13359	18	25	llms	llm	NOUN
dad-13359	18	26	.	.	PUNCT
dad-13359	19	1	for	for	ADP
dad-13359	19	2	instance	instance	NOUN
dad-13359	19	3	,	,	PUNCT
dad-13359	19	4	huang	huang	PROPN
dad-13359	19	5	et	et	PROPN
dad-13359	19	6	al	al	PROPN
dad-13359	19	7	.	.	PROPN
dad-13359	19	8	(	(	PUNCT
dad-13359	19	9	2022	2022	NUM
dad-13359	19	10	)	)	PUNCT
dad-13359	19	11	demonstrated	demonstrate	VERB
dad-13359	19	12	a	a	DET
dad-13359	19	13	system	system	NOUN
dad-13359	19	14	where	where	SCONJ
dad-13359	19	15	feedback	feedback	NOUN
dad-13359	19	16	from	from	ADP
dad-13359	19	17	the	the	DET
dad-13359	19	18	environment	environment	NOUN
dad-13359	19	19	is	be	AUX
dad-13359	19	20	used	use	VERB
dad-13359	19	21	in	in	ADP
dad-13359	19	22	the	the	DET
dad-13359	19	23	form	form	NOUN
dad-13359	19	24	of	of	ADP
dad-13359	19	25	a	a	DET
dad-13359	19	26	kind	kind	NOUN
dad-13359	19	27	of	of	ADP
dad-13359	19	28	inner	inner	ADJ
dad-13359	19	29	monologue	monologue	NOUN
dad-13359	19	30	.	.	PUNCT
dad-13359	20	1	under	under	ADP
dad-13359	20	2	such	such	DET
dad-13359	20	3	a	a	DET
dad-13359	20	4	system	system	NOUN
dad-13359	20	5	,	,	PUNCT
dad-13359	20	6	multiple	multiple	ADJ
dad-13359	20	7	sources	source	NOUN
dad-13359	20	8	of	of	ADP
dad-13359	20	9	information	information	NOUN
dad-13359	20	10	are	be	AUX
dad-13359	20	11	combined	combine	VERB
dad-13359	20	12	in	in	ADP
dad-13359	20	13	a	a	DET
dad-13359	20	14	form	form	NOUN
dad-13359	20	15	representing	represent	VERB
dad-13359	20	16	the	the	DET
dad-13359	20	17	semantics	semantic	NOUN
dad-13359	20	18	of	of	ADP
dad-13359	20	19	a	a	DET
dad-13359	20	20	situation	situation	NOUN
dad-13359	20	21	,	,	PUNCT
dad-13359	20	22	in	in	ADP
dad-13359	20	23	the	the	DET
dad-13359	20	24	sense	sense	NOUN
dad-13359	20	25	of	of	ADP
dad-13359	20	26	how	how	SCONJ
dad-13359	20	27	objects	object	NOUN
dad-13359	20	28	under	under	ADP
dad-13359	20	29	discussion	discussion	NOUN
dad-13359	20	30	relate	relate	VERB
dad-13359	20	31	to	to	ADP
dad-13359	20	32	each	each	DET
dad-13359	20	33	other	other	ADJ
dad-13359	20	34	.	.	PUNCT
dad-13359	21	1	these	these	DET
dad-13359	21	2	systems	system	NOUN
dad-13359	21	3	thereby	thereby	ADV
dad-13359	21	4	make	make	VERB
dad-13359	21	5	use	use	NOUN
dad-13359	21	6	of	of	ADP
dad-13359	21	7	multiple	multiple	ADJ
dad-13359	21	8	modalities	modality	NOUN
dad-13359	21	9	obtained	obtain	VERB
dad-13359	21	10	from	from	ADP
dad-13359	21	11	other	other	ADJ
dad-13359	21	12	(	(	PUNCT
dad-13359	21	13	particularly	particularly	ADV
dad-13359	21	14	pre	pre	ADJ
dad-13359	21	15	-	-	ADJ
dad-13359	21	16	trained	trained	ADJ
dad-13359	21	17	)	)	PUNCT
dad-13359	21	18	models	model	NOUN
dad-13359	21	19	where	where	SCONJ
dad-13359	21	20	the	the	DET
dad-13359	21	21	combined	combined	ADJ
dad-13359	21	22	information	information	NOUN
dad-13359	21	23	enables	enable	VERB
dad-13359	21	24	improved	improved	ADJ
dad-13359	21	25	performance	performance	NOUN
dad-13359	21	26	even	even	ADV
dad-13359	21	27	in	in	ADP
dad-13359	21	28	zero	zero	NUM
dad-13359	21	29	-	-	PUNCT
dad-13359	21	30	shot	shot	NOUN
dad-13359	21	31	scenarios	scenario	NOUN
dad-13359	21	32	(	(	PUNCT
dad-13359	21	33	zeng	zeng	PROPN
dad-13359	21	34	et	et	PROPN
dad-13359	21	35	al	al	PROPN
dad-13359	21	36	.	.	PROPN
dad-13359	21	37	,	,	PUNCT
dad-13359	21	38	2022	2022	NUM
dad-13359	21	39	)	)	PUNCT
dad-13359	21	40	.	.	PUNCT
dad-13359	22	1	such	such	ADJ
dad-13359	22	2	models	model	NOUN
dad-13359	22	3	suggest	suggest	VERB
dad-13359	22	4	that	that	SCONJ
dad-13359	22	5	there	there	PRON
dad-13359	22	6	exists	exist	VERB
dad-13359	22	7	a	a	DET
dad-13359	22	8	strong	strong	ADJ
dad-13359	22	9	capability	capability	NOUN
dad-13359	22	10	for	for	ADP
dad-13359	22	11	llms	llm	NOUN
dad-13359	22	12	to	to	PART
dad-13359	22	13	operate	operate	VERB
dad-13359	22	14	over	over	ADP
dad-13359	22	15	diverse	diverse	ADJ
dad-13359	22	16	sources	source	NOUN
dad-13359	22	17	of	of	ADP
dad-13359	22	18	information	information	NOUN
dad-13359	22	19	structured	structure	VERB
dad-13359	22	20	as	as	ADP
dad-13359	22	21	text	text	NOUN
dad-13359	22	22	input	input	NOUN
dad-13359	22	23	.	.	PUNCT
dad-13359	23	1	in	in	ADP
dad-13359	23	2	this	this	DET
dad-13359	23	3	article	article	NOUN
dad-13359	23	4	,	,	PUNCT
dad-13359	23	5	we	we	PRON
dad-13359	23	6	explore	explore	VERB
dad-13359	23	7	the	the	DET
dad-13359	23	8	problem	problem	NOUN
dad-13359	23	9	of	of	ADP
dad-13359	23	10	response	response	NOUN
dad-13359	23	11	generation	generation	NOUN
dad-13359	23	12	for	for	ADP
dad-13359	23	13	embodied	embodied	ADJ
dad-13359	23	14	agents	agent	NOUN
dad-13359	23	15	and	and	CCONJ
dad-13359	23	16	demonstrate	demonstrate	VERB
dad-13359	23	17	how	how	SCONJ
dad-13359	23	18	various	various	ADJ
dad-13359	23	19	sources	source	NOUN
dad-13359	23	20	of	of	ADP
dad-13359	23	21	information	information	NOUN
dad-13359	23	22	can	can	AUX
dad-13359	23	23	be	be	AUX
dad-13359	23	24	collected	collect	VERB
dad-13359	23	25	and	and	CCONJ
dad-13359	23	26	acted	act	VERB
dad-13359	23	27	upon	upon	SCONJ
dad-13359	23	28	in	in	ADP
dad-13359	23	29	such	such	DET
dad-13359	23	30	a	a	DET
dad-13359	23	31	system	system	NOUN
dad-13359	23	32	.	.	PUNCT
dad-13359	24	1	our	our	PRON
dad-13359	24	2	approach	approach	NOUN
dad-13359	24	3	rests	rest	VERB
dad-13359	24	4	on	on	ADP
dad-13359	24	5	the	the	DET
dad-13359	24	6	following	follow	VERB
dad-13359	24	7	elements	element	NOUN
dad-13359	24	8	:	:	PUNCT
dad-13359	25	1	1	1	X
dad-13359	25	2	.	.	X
dad-13359	25	3	a	a	DET
dad-13359	25	4	dynamic	dynamic	ADJ
dad-13359	25	5	knowledge	knowledge	NOUN
dad-13359	25	6	graph	graph	NOUN
dad-13359	25	7	of	of	ADP
dad-13359	25	8	the	the	DET
dad-13359	25	9	dialogue	dialogue	NOUN
dad-13359	25	10	state	state	NOUN
dad-13359	25	11	where	where	SCONJ
dad-13359	25	12	locations	location	NOUN
dad-13359	25	13	,	,	PUNCT
dad-13359	25	14	physical	physical	ADJ
dad-13359	25	15	objects	object	NOUN
dad-13359	25	16	,	,	PUNCT
dad-13359	25	17	and	and	CCONJ
dad-13359	25	18	dialogue	dialogue	NOUN
dad-13359	25	19	elements	element	NOUN
dad-13359	25	20	such	such	ADJ
dad-13359	25	21	as	as	ADP
dad-13359	25	22	utterances	utterance	NOUN
dad-13359	25	23	are	be	AUX
dad-13359	25	24	represented	represent	VERB
dad-13359	25	25	as	as	ADP
dad-13359	25	26	nodes	node	NOUN
dad-13359	25	27	and	and	CCONJ
dad-13359	25	28	semantic	semantic	ADJ
dad-13359	25	29	relations	relation	NOUN
dad-13359	25	30	between	between	ADP
dad-13359	25	31	them	they	PRON
dad-13359	25	32	represented	represent	VERB
dad-13359	25	33	with	with	ADP
dad-13359	25	34	edges	edge	NOUN
dad-13359	25	35	.	.	PUNCT
dad-13359	26	1	2	2	X
dad-13359	26	2	.	.	X
dad-13359	26	3	a	a	DET
dad-13359	26	4	simple	simple	ADJ
dad-13359	26	5	parameterized	parameterized	ADJ
dad-13359	26	6	function	function	NOUN
dad-13359	26	7	to	to	PART
dad-13359	26	8	verbalize	verbalize	VERB
dad-13359	26	9	the	the	DET
dad-13359	26	10	dialogue	dialogue	NOUN
dad-13359	26	11	state	state	NOUN
dad-13359	26	12	graph	graph	NOUN
dad-13359	26	13	based	base	VERB
dad-13359	26	14	on	on	ADP
dad-13359	26	15	traversals	traversal	NOUN
dad-13359	26	16	of	of	ADP
dad-13359	26	17	the	the	DET
dad-13359	26	18	graphs	graph	NOUN
dad-13359	26	19	,	,	PUNCT
dad-13359	26	20	and	and	CCONJ
dad-13359	26	21	the	the	DET
dad-13359	26	22	optimization	optimization	NOUN
dad-13359	26	23	of	of	ADP
dad-13359	26	24	those	those	DET
dad-13359	26	25	verbalization	verbalization	NOUN
dad-13359	26	26	parameters	parameter	NOUN
dad-13359	26	27	from	from	ADP
dad-13359	26	28	wizard	wizard	NOUN
dad-13359	26	29	-	-	PUNCT
dad-13359	26	30	of	of	ADP
dad-13359	26	31	-	-	PUNCT
dad-13359	26	32	oz	oz	NOUN
dad-13359	26	33	data	datum	NOUN
dad-13359	26	34	.	.	PUNCT
dad-13359	27	1	3	3	X
dad-13359	27	2	.	.	X
dad-13359	27	3	a	a	DET
dad-13359	27	4	large	large	ADJ
dad-13359	27	5	language	language	NOUN
dad-13359	27	6	model	model	NOUN
dad-13359	27	7	that	that	PRON
dad-13359	27	8	includes	include	VERB
dad-13359	27	9	the	the	DET
dad-13359	27	10	verbalized	verbalize	VERB
dad-13359	27	11	representation	representation	NOUN
dad-13359	27	12	of	of	ADP
dad-13359	27	13	the	the	DET
dad-13359	27	14	graph	graph	NOUN
dad-13359	27	15	as	as	ADP
dad-13359	27	16	part	part	NOUN
dad-13359	27	17	of	of	ADP
dad-13359	27	18	its	its	PRON
dad-13359	27	19	prompt	prompt	NOUN
dad-13359	27	20	and	and	CCONJ
dad-13359	27	21	is	be	AUX
dad-13359	27	22	responsible	responsible	ADJ
dad-13359	27	23	for	for	ADP
dad-13359	27	24	generating	generate	VERB
dad-13359	27	25	the	the	DET
dad-13359	27	26	robot	robot	NOUN
dad-13359	27	27	response	response	NOUN
dad-13359	27	28	.	.	PUNCT
dad-13359	28	1	a	a	DET
dad-13359	28	2	sketch	sketch	NOUN
dad-13359	28	3	of	of	ADP
dad-13359	28	4	the	the	DET
dad-13359	28	5	proposed	propose	VERB
dad-13359	28	6	approach	approach	NOUN
dad-13359	28	7	is	be	AUX
dad-13359	28	8	provided	provide	VERB
dad-13359	28	9	in	in	ADP
dad-13359	28	10	figure	figure	NOUN
dad-13359	28	11	1	1	NUM
dad-13359	28	12	.	.	PUNCT
dad-13359	28	13	as	as	SCONJ
dad-13359	28	14	shown	show	VERB
dad-13359	28	15	in	in	ADP
dad-13359	28	16	the	the	DET
dad-13359	28	17	figure	figure	NOUN
dad-13359	28	18	,	,	PUNCT
dad-13359	28	19	information	information	NOUN
dad-13359	28	20	detected	detect	VERB
dad-13359	28	21	by	by	ADP
dad-13359	28	22	the	the	DET
dad-13359	28	23	embodied	embodied	ADJ
dad-13359	28	24	agent	agent	NOUN
dad-13359	28	25	including	include	VERB
dad-13359	28	26	speech	speech	NOUN
dad-13359	28	27	,	,	PUNCT
dad-13359	28	28	visual	visual	ADJ
dad-13359	28	29	,	,	PUNCT
dad-13359	28	30	and	and	CCONJ
dad-13359	28	31	positional	positional	ADJ
dad-13359	28	32	data	datum	NOUN
dad-13359	28	33	are	be	AUX
dad-13359	28	34	brought	bring	VERB
dad-13359	28	35	together	together	ADV
dad-13359	28	36	into	into	ADP
dad-13359	28	37	a	a	DET
dad-13359	28	38	unified	unified	ADJ
dad-13359	28	39	structure	structure	NOUN
dad-13359	28	40	in	in	ADP
dad-13359	28	41	the	the	DET
dad-13359	28	42	form	form	NOUN
dad-13359	28	43	of	of	ADP
dad-13359	28	44	a	a	DET
dad-13359	28	45	graph	graph	NOUN
dad-13359	28	46	and	and	CCONJ
dad-13359	28	47	subsequently	subsequently	ADV
dad-13359	28	48	transformed	transform	VERB
dad-13359	28	49	into	into	ADP
dad-13359	28	50	natural	natural	ADJ
dad-13359	28	51	language	language	NOUN
dad-13359	28	52	as	as	ADP
dad-13359	28	53	input	input	NOUN
dad-13359	28	54	for	for	ADP
dad-13359	28	55	an	an	DET
dad-13359	28	56	llm	llm	NOUN
dad-13359	28	57	.	.	PUNCT
dad-13359	29	1	specifically	specifically	ADV
dad-13359	29	2	,	,	PUNCT
dad-13359	29	3	this	this	PRON
dad-13359	29	4	is	be	AUX
dad-13359	29	5	a	a	DET
dad-13359	29	6	dynamic	dynamic	ADJ
dad-13359	29	7	knowledge	knowledge	NOUN
dad-13359	29	8	graph	graph	NOUN
dad-13359	29	9	,	,	PUNCT
dad-13359	29	10	in	in	ADP
dad-13359	29	11	which	which	PRON
dad-13359	29	12	nodes	node	NOUN
dad-13359	29	13	and	and	CCONJ
dad-13359	29	14	edges	edge	NOUN
dad-13359	29	15	are	be	AUX
dad-13359	29	16	added	add	VERB
dad-13359	29	17	incrementally	incrementally	ADV
dad-13359	29	18	.	.	PUNCT
dad-13359	30	1	a	a	DET
dad-13359	30	2	dynamic	dynamic	ADJ
dad-13359	30	3	rather	rather	ADV
dad-13359	30	4	than	than	ADP
dad-13359	30	5	static	static	ADJ
dad-13359	30	6	graph	graph	NOUN
dad-13359	30	7	structure	structure	NOUN
dad-13359	30	8	allows	allow	VERB
dad-13359	30	9	it	it	PRON
dad-13359	30	10	to	to	PART
dad-13359	30	11	be	be	AUX
dad-13359	30	12	modified	modify	VERB
dad-13359	30	13	throughout	throughout	ADP
dad-13359	30	14	robot	robot	NOUN
dad-13359	30	15	exploration	exploration	NOUN
dad-13359	30	16	and	and	CCONJ
dad-13359	30	17	conversation	conversation	NOUN
dad-13359	30	18	with	with	ADP
dad-13359	30	19	users	user	NOUN
dad-13359	30	20	.	.	PUNCT
dad-13359	31	1	the	the	DET
dad-13359	31	2	graph	graph	NOUN
dad-13359	31	3	structure	structure	NOUN
dad-13359	31	4	thereby	thereby	ADV
dad-13359	31	5	enables	enable	VERB
dad-13359	31	6	the	the	DET
dad-13359	31	7	continuous	continuous	ADJ
dad-13359	31	8	inclusion	inclusion	NOUN
dad-13359	31	9	of	of	ADP
dad-13359	31	10	both	both	PRON
dad-13359	31	11	situated	situated	ADJ
dad-13359	31	12	and	and	CCONJ
dad-13359	31	13	dialogue	dialogue	NOUN
dad-13359	31	14	-	-	PUNCT
dad-13359	31	15	specific	specific	ADJ
dad-13359	31	16	information	information	NOUN
dad-13359	31	17	as	as	SCONJ
dad-13359	31	18	it	it	PRON
dad-13359	31	19	is	be	AUX
dad-13359	31	20	received	receive	VERB
dad-13359	31	21	by	by	ADP
dad-13359	31	22	the	the	DET
dad-13359	31	23	system	system	NOUN
dad-13359	31	24	.	.	PUNCT
dad-13359	32	1	semantic	semantic	ADJ
dad-13359	32	2	relations	relation	NOUN
dad-13359	32	3	between	between	ADP
dad-13359	32	4	objects	object	NOUN
dad-13359	32	5	,	,	PUNCT
dad-13359	32	6	places	place	NOUN
dad-13359	32	7	,	,	PUNCT
dad-13359	32	8	and	and	CCONJ
dad-13359	32	9	utterances	utterance	NOUN
dad-13359	32	10	are	be	AUX
dad-13359	32	11	represented	represent	VERB
dad-13359	32	12	as	as	ADP
dad-13359	32	13	edges	edge	NOUN
dad-13359	32	14	between	between	ADP
dad-13359	32	15	the	the	DET
dad-13359	32	16	nodes	node	NOUN
dad-13359	32	17	of	of	ADP
dad-13359	32	18	the	the	DET
dad-13359	32	19	graph	graph	NOUN
dad-13359	32	20	,	,	PUNCT
dad-13359	32	21	enabling	enable	VERB
dad-13359	32	22	not	not	PART
dad-13359	32	23	only	only	ADV
dad-13359	32	24	verbal	verbal	ADJ
dad-13359	32	25	expression	expression	NOUN
dad-13359	32	26	of	of	ADP
dad-13359	32	27	these	these	DET
dad-13359	32	28	relations	relation	NOUN
dad-13359	32	29	but	but	CCONJ
dad-13359	32	30	also	also	ADV
dad-13359	32	31	of	of	ADP
dad-13359	32	32	larger	large	ADJ
dad-13359	32	33	traversals	traversal	NOUN
dad-13359	32	34	of	of	ADP
dad-13359	32	35	the	the	DET
dad-13359	32	36	graph	graph	NOUN
dad-13359	32	37	.	.	PUNCT
dad-13359	33	1	moreover	moreover	ADV
dad-13359	33	2	,	,	PUNCT
dad-13359	33	3	probabilities	probability	NOUN
dad-13359	33	4	and	and	CCONJ
dad-13359	33	5	temporal	temporal	ADJ
dad-13359	33	6	relations	relation	NOUN
dad-13359	33	7	in	in	ADP
dad-13359	33	8	the	the	DET
dad-13359	33	9	graph	graph	NOUN
dad-13359	33	10	are	be	AUX
dad-13359	33	11	also	also	ADV
dad-13359	33	12	easily	easily	ADV
dad-13359	33	13	exploited	exploit	VERB
dad-13359	33	14	in	in	ADP
dad-13359	33	15	such	such	DET
dad-13359	33	16	a	a	DET
dad-13359	33	17	transformation	transformation	NOUN
dad-13359	33	18	.	.	PUNCT
dad-13359	34	1	the	the	DET
dad-13359	34	2	graph	graph	NOUN
dad-13359	34	3	structure	structure	NOUN
dad-13359	34	4	is	be	AUX
dad-13359	34	5	thereby	thereby	ADV
dad-13359	34	6	exposed	expose	VERB
dad-13359	34	7	to	to	ADP
dad-13359	34	8	an	an	DET
dad-13359	34	9	llm	llm	NOUN
dad-13359	34	10	in	in	ADP
dad-13359	34	11	a	a	DET
dad-13359	34	12	way	way	NOUN
dad-13359	34	13	that	that	PRON
dad-13359	34	14	enables	enable	VERB
dad-13359	34	15	the	the	DET
dad-13359	34	16	strengths	strength	NOUN
dad-13359	34	17	of	of	ADP
dad-13359	34	18	such	such	ADJ
dad-13359	34	19	models	model	NOUN
dad-13359	34	20	to	to	PART
dad-13359	34	21	be	be	AUX
dad-13359	34	22	exploited	exploit	VERB
dad-13359	34	23	through	through	ADP
dad-13359	34	24	a	a	DET
dad-13359	34	25	simple	simple	ADJ
dad-13359	34	26	,	,	PUNCT
dad-13359	34	27	controllable	controllable	ADJ
dad-13359	34	28	transformation	transformation	NOUN
dad-13359	34	29	from	from	ADP
dad-13359	34	30	graph	graph	NOUN
dad-13359	34	31	to	to	ADP
dad-13359	34	32	text	text	NOUN
dad-13359	34	33	.	.	PUNCT
dad-13359	35	1	to	to	PART
dad-13359	35	2	evaluate	evaluate	VERB
dad-13359	35	3	the	the	DET
dad-13359	35	4	proposed	propose	VERB
dad-13359	35	5	approach	approach	NOUN
dad-13359	35	6	,	,	PUNCT
dad-13359	35	7	we	we	PRON
dad-13359	35	8	design	design	VERB
dad-13359	35	9	an	an	DET
dad-13359	35	10	experiment	experiment	NOUN
dad-13359	35	11	with	with	ADP
dad-13359	35	12	users	user	NOUN
dad-13359	35	13	to	to	PART
dad-13359	35	14	explore	explore	VERB
dad-13359	35	15	its	its	PRON
dad-13359	35	16	use	use	NOUN
dad-13359	35	17	in	in	ADP
dad-13359	35	18	a	a	DET
dad-13359	35	19	practical	practical	ADJ
dad-13359	35	20	setting	setting	NOUN
dad-13359	35	21	.	.	PUNCT
dad-13359	36	1	our	our	PRON
dad-13359	36	2	experiment	experiment	NOUN
dad-13359	36	3	consists	consist	VERB
dad-13359	36	4	of	of	ADP
dad-13359	36	5	users	user	NOUN
dad-13359	36	6	touring	tour	VERB
dad-13359	36	7	an	an	DET
dad-13359	36	8	office	office	NOUN
dad-13359	36	9	space	space	NOUN
dad-13359	36	10	with	with	ADP
dad-13359	36	11	a	a	DET
dad-13359	36	12	robot	robot	NOUN
dad-13359	36	13	and	and	CCONJ
dad-13359	36	14	subsequently	subsequently	ADV
dad-13359	36	15	discussing	discuss	VERB
dad-13359	36	16	the	the	DET
dad-13359	36	17	tour	tour	NOUN
dad-13359	36	18	.	.	PUNCT
dad-13359	37	1	we	we	PRON
dad-13359	37	2	evaluate	evaluate	VERB
dad-13359	37	3	the	the	DET
dad-13359	37	4	robot	robot	NOUN
dad-13359	37	5	’s	’s	PART
dad-13359	37	6	ability	ability	NOUN
dad-13359	37	7	to	to	PART
dad-13359	37	8	converse	converse	VERB
dad-13359	37	9	about	about	ADP
dad-13359	37	10	the	the	DET
dad-13359	37	11	tour	tour	NOUN
dad-13359	37	12	when	when	SCONJ
dad-13359	37	13	equipped	equip	VERB
dad-13359	37	14	with	with	ADP
dad-13359	37	15	two	two	NUM
dad-13359	37	16	llms	llm	NOUN
dad-13359	37	17	(	(	PUNCT
dad-13359	37	18	specifically	specifically	ADV
dad-13359	37	19	gpt-4	gpt-4	PUNCT
dad-13359	37	20	and	and	CCONJ
dad-13359	37	21	llama	llama	NOUN
dad-13359	37	22	)	)	PUNCT
dad-13359	37	23	,	,	PUNCT
dad-13359	37	24	using	use	VERB
dad-13359	37	25	the	the	DET
dad-13359	37	26	graph	graph	NOUN
dad-13359	37	27	-	-	PUNCT
dad-13359	37	28	to	to	ADP
dad-13359	37	29	-	-	PUNCT
dad-13359	37	30	text	text	NOUN
dad-13359	37	31	approach	approach	NOUN
dad-13359	37	32	and	and	CCONJ
dad-13359	37	33	a	a	DET
dad-13359	37	34	baseline	baseline	ADJ
dad-13359	37	35	triples	triple	NOUN
dad-13359	37	36	conversion	conversion	NOUN
dad-13359	37	37	.	.	PUNCT
dad-13359	38	1	from	from	ADP
dad-13359	38	2	the	the	DET
dad-13359	38	3	resulting	result	VERB
dad-13359	38	4	dialogues	dialogue	NOUN
dad-13359	38	5	and	and	CCONJ
dad-13359	38	6	user	user	NOUN
dad-13359	38	7	feedback	feedback	NOUN
dad-13359	38	8	,	,	PUNCT
dad-13359	38	9	we	we	PRON
dad-13359	38	10	provide	provide	VERB
dad-13359	38	11	a	a	DET
dad-13359	38	12	statistical	statistical	ADJ
dad-13359	38	13	analysis	analysis	NOUN
dad-13359	38	14	of	of	ADP
dad-13359	38	15	the	the	DET
dad-13359	38	16	results	result	NOUN
dad-13359	38	17	along	along	ADP
dad-13359	38	18	with	with	ADP
dad-13359	38	19	further	further	ADJ
dad-13359	38	20	qualitative	qualitative	ADJ
dad-13359	38	21	analysis	analysis	NOUN
dad-13359	38	22	of	of	ADP
dad-13359	38	23	attributes	attribute	NOUN
dad-13359	38	24	of	of	ADP
dad-13359	38	25	the	the	DET
dad-13359	38	26	resulting	result	VERB
dad-13359	38	27	dialogues	dialogue	NOUN
dad-13359	38	28	.	.	PUNCT
dad-13359	39	1	61	61	NUM
dad-13359	39	2	walker	walker	NOUN
dad-13359	39	3	,	,	PUNCT
dad-13359	39	4	ultes	ulte	NOUN
dad-13359	39	5	and	and	CCONJ
dad-13359	39	6	lison	lison	PROPN
dad-13359	39	7	asr	asr	PROPN
dad-13359	39	8	f(g	f(g	PROPN
dad-13359	39	9	,	,	PUNCT
dad-13359	39	10	θ	θ	NOUN
dad-13359	39	11	)	)	PUNCT
dad-13359	39	12	verbalization	verbalization	NOUN
dad-13359	39	13	prompt	prompt	NOUN
dad-13359	39	14	“	"	PUNCT
dad-13359	39	15	i	i	PRON
dad-13359	39	16	saw	see	VERB
dad-13359	39	17	a	a	DET
dad-13359	39	18	plant	plant	NOUN
dad-13359	39	19	in	in	ADP
dad-13359	39	20	the	the	DET
dad-13359	39	21	hall	hall	NOUN
dad-13359	39	22	.	.	PUNCT
dad-13359	39	23	”	"	PUNCT
dad-13359	40	1	response	response	NOUN
dad-13359	40	2	object	object	NOUN
dad-13359	40	3	recognition	recognition	NOUN
dad-13359	40	4	(	(	PUNCT
dad-13359	40	5	vqa	vqa	PROPN
dad-13359	40	6	)	)	PUNCT
dad-13359	40	7	…	…	PUNCT
dad-13359	40	8	input	input	NOUN
dad-13359	40	9	&	&	CCONJ
dad-13359	40	10	postprocessing	postprocessing	NOUN
dad-13359	40	11	modules	module	NOUN
dad-13359	40	12	figure	figure	VERB
dad-13359	40	13	1	1	NUM
dad-13359	40	14	:	:	PUNCT
dad-13359	40	15	diagram	diagram	NOUN
dad-13359	40	16	of	of	ADP
dad-13359	40	17	the	the	DET
dad-13359	40	18	proposed	propose	VERB
dad-13359	40	19	approach	approach	NOUN
dad-13359	40	20	.	.	PUNCT
dad-13359	41	1	the	the	DET
dad-13359	41	2	red	red	ADJ
dad-13359	41	3	path	path	NOUN
dad-13359	41	4	in	in	ADP
dad-13359	41	5	the	the	DET
dad-13359	41	6	graph	graph	NOUN
dad-13359	41	7	indicates	indicate	VERB
dad-13359	41	8	a	a	DET
dad-13359	41	9	traversal	traversal	NOUN
dad-13359	41	10	which	which	PRON
dad-13359	41	11	is	be	AUX
dad-13359	41	12	transformed	transform	VERB
dad-13359	41	13	to	to	ADP
dad-13359	41	14	a	a	DET
dad-13359	41	15	natural	natural	ADJ
dad-13359	41	16	language	language	NOUN
dad-13359	41	17	document	document	NOUN
dad-13359	41	18	via	via	ADP
dad-13359	41	19	a	a	DET
dad-13359	41	20	parameterized	parameterized	ADJ
dad-13359	41	21	function	function	NOUN
dad-13359	41	22	.	.	PUNCT
dad-13359	42	1	the	the	DET
dad-13359	42	2	resulting	result	VERB
dad-13359	42	3	text	text	NOUN
dad-13359	42	4	description	description	NOUN
dad-13359	42	5	is	be	AUX
dad-13359	42	6	then	then	ADV
dad-13359	42	7	inserted	insert	VERB
dad-13359	42	8	into	into	ADP
dad-13359	42	9	the	the	DET
dad-13359	42	10	prompt	prompt	NOUN
dad-13359	42	11	for	for	ADP
dad-13359	42	12	the	the	DET
dad-13359	42	13	language	language	NOUN
dad-13359	42	14	model	model	NOUN
dad-13359	42	15	.	.	PUNCT
dad-13359	43	1	the	the	DET
dad-13359	43	2	rest	rest	NOUN
dad-13359	43	3	of	of	ADP
dad-13359	43	4	the	the	DET
dad-13359	43	5	paper	paper	NOUN
dad-13359	43	6	is	be	AUX
dad-13359	43	7	structured	structure	VERB
dad-13359	43	8	as	as	SCONJ
dad-13359	43	9	follows	follow	VERB
dad-13359	43	10	.	.	PUNCT
dad-13359	44	1	in	in	ADP
dad-13359	44	2	section	section	NOUN
dad-13359	44	3	2	2	NUM
dad-13359	44	4	,	,	PUNCT
dad-13359	44	5	we	we	PRON
dad-13359	44	6	provide	provide	VERB
dad-13359	44	7	a	a	DET
dad-13359	44	8	general	general	ADJ
dad-13359	44	9	background	background	NOUN
dad-13359	44	10	on	on	ADP
dad-13359	44	11	embodied	embodied	ADJ
dad-13359	44	12	conversational	conversational	ADJ
dad-13359	44	13	agents	agent	NOUN
dad-13359	44	14	,	,	PUNCT
dad-13359	44	15	knowledge	knowledge	NOUN
dad-13359	44	16	graphs	graph	NOUN
dad-13359	44	17	for	for	ADP
dad-13359	44	18	dialogue	dialogue	NOUN
dad-13359	44	19	,	,	PUNCT
dad-13359	44	20	and	and	CCONJ
dad-13359	44	21	large	large	ADJ
dad-13359	44	22	language	language	NOUN
dad-13359	44	23	models	model	NOUN
dad-13359	44	24	.	.	PUNCT
dad-13359	45	1	section	section	NOUN
dad-13359	45	2	3	3	NUM
dad-13359	45	3	describes	describe	VERB
dad-13359	45	4	how	how	SCONJ
dad-13359	45	5	to	to	PART
dad-13359	45	6	structure	structure	VERB
dad-13359	45	7	the	the	DET
dad-13359	45	8	dialogue	dialogue	NOUN
dad-13359	45	9	state	state	NOUN
dad-13359	45	10	of	of	ADP
dad-13359	45	11	the	the	DET
dad-13359	45	12	agent	agent	NOUN
dad-13359	45	13	as	as	ADP
dad-13359	45	14	a	a	DET
dad-13359	45	15	knowledge	knowledge	NOUN
dad-13359	45	16	graph	graph	NOUN
dad-13359	45	17	,	,	PUNCT
dad-13359	45	18	verbalize	verbalize	VERB
dad-13359	45	19	its	its	PRON
dad-13359	45	20	content	content	NOUN
dad-13359	45	21	through	through	ADP
dad-13359	45	22	graph	graph	NOUN
dad-13359	45	23	traversals	traversal	NOUN
dad-13359	45	24	,	,	PUNCT
dad-13359	45	25	and	and	CCONJ
dad-13359	45	26	integrate	integrate	VERB
dad-13359	45	27	the	the	DET
dad-13359	45	28	result	result	NOUN
dad-13359	45	29	into	into	ADP
dad-13359	45	30	the	the	DET
dad-13359	45	31	prompt	prompt	NOUN
dad-13359	45	32	of	of	ADP
dad-13359	45	33	the	the	DET
dad-13359	45	34	llm	llm	PROPN
dad-13359	45	35	employed	employ	VERB
dad-13359	45	36	to	to	PART
dad-13359	45	37	generate	generate	VERB
dad-13359	45	38	the	the	DET
dad-13359	45	39	robot	robot	NOUN
dad-13359	45	40	responses	response	NOUN
dad-13359	45	41	to	to	ADP
dad-13359	45	42	user	user	NOUN
dad-13359	45	43	utterances	utterance	NOUN
dad-13359	45	44	.	.	PUNCT
dad-13359	46	1	section	section	NOUN
dad-13359	46	2	4	4	NUM
dad-13359	46	3	presents	present	VERB
dad-13359	46	4	an	an	DET
dad-13359	46	5	experimental	experimental	ADJ
dad-13359	46	6	study	study	NOUN
dad-13359	46	7	that	that	PRON
dad-13359	46	8	investigates	investigate	VERB
dad-13359	46	9	the	the	DET
dad-13359	46	10	influence	influence	NOUN
dad-13359	46	11	of	of	ADP
dad-13359	46	12	this	this	DET
dad-13359	46	13	graph	graph	NOUN
dad-13359	46	14	-	-	PUNCT
dad-13359	46	15	to	to	ADP
dad-13359	46	16	-	-	PUNCT
dad-13359	46	17	text	text	NOUN
dad-13359	46	18	approach	approach	NOUN
dad-13359	46	19	on	on	ADP
dad-13359	46	20	the	the	DET
dad-13359	46	21	factuality	factuality	NOUN
dad-13359	46	22	and	and	CCONJ
dad-13359	46	23	adequacy	adequacy	NOUN
dad-13359	46	24	of	of	ADP
dad-13359	46	25	the	the	DET
dad-13359	46	26	robot	robot	NOUN
dad-13359	46	27	responses	response	NOUN
dad-13359	46	28	.	.	PUNCT
dad-13359	47	1	the	the	DET
dad-13359	47	2	obtained	obtain	VERB
dad-13359	47	3	user	user	NOUN
dad-13359	47	4	ratings	rating	NOUN
dad-13359	47	5	show	show	VERB
dad-13359	47	6	that	that	SCONJ
dad-13359	47	7	this	this	DET
dad-13359	47	8	graph	graph	NOUN
dad-13359	47	9	-	-	PUNCT
dad-13359	47	10	to	to	ADP
dad-13359	47	11	-	-	PUNCT
dad-13359	47	12	text	text	NOUN
dad-13359	47	13	approach	approach	NOUN
dad-13359	47	14	is	be	AUX
dad-13359	47	15	able	able	ADJ
dad-13359	47	16	to	to	PART
dad-13359	47	17	improve	improve	VERB
dad-13359	47	18	the	the	DET
dad-13359	47	19	factuality	factuality	NOUN
dad-13359	47	20	of	of	ADP
dad-13359	47	21	the	the	DET
dad-13359	47	22	robot	robot	NOUN
dad-13359	47	23	responses	response	NOUN
dad-13359	47	24	compared	compare	VERB
dad-13359	47	25	to	to	ADP
dad-13359	47	26	a	a	DET
dad-13359	47	27	baseline	baseline	NOUN
dad-13359	47	28	relying	rely	VERB
dad-13359	47	29	on	on	ADP
dad-13359	47	30	inputs	input	NOUN
dad-13359	47	31	where	where	SCONJ
dad-13359	47	32	the	the	DET
dad-13359	47	33	graph	graph	NOUN
dad-13359	47	34	information	information	NOUN
dad-13359	47	35	is	be	AUX
dad-13359	47	36	provided	provide	VERB
dad-13359	47	37	in	in	ADP
dad-13359	47	38	the	the	DET
dad-13359	47	39	form	form	NOUN
dad-13359	47	40	of	of	ADP
dad-13359	47	41	semantic	semantic	ADJ
dad-13359	47	42	triples	triple	NOUN
dad-13359	47	43	.	.	PUNCT
dad-13359	48	1	finally	finally	ADV
dad-13359	48	2	,	,	PUNCT
dad-13359	48	3	in	in	ADP
dad-13359	48	4	sections	section	NOUN
dad-13359	48	5	5	5	NUM
dad-13359	48	6	and	and	CCONJ
dad-13359	48	7	6	6	NUM
dad-13359	48	8	we	we	PRON
dad-13359	48	9	discuss	discuss	VERB
dad-13359	48	10	the	the	DET
dad-13359	48	11	experimental	experimental	ADJ
dad-13359	48	12	results	result	NOUN
dad-13359	48	13	and	and	CCONJ
dad-13359	48	14	review	review	VERB
dad-13359	48	15	the	the	DET
dad-13359	48	16	benefits	benefit	NOUN
dad-13359	48	17	and	and	CCONJ
dad-13359	48	18	limitations	limitation	NOUN
dad-13359	48	19	of	of	ADP
dad-13359	48	20	the	the	DET
dad-13359	48	21	proposed	propose	VERB
dad-13359	48	22	approach	approach	NOUN
dad-13359	48	23	,	,	PUNCT
dad-13359	48	24	and	and	CCONJ
dad-13359	48	25	conclude	conclude	NOUN
dad-13359	48	26	.	.	PUNCT
dad-13359	49	1	2	2	X
dad-13359	49	2	.	.	X
dad-13359	49	3	background	background	NOUN
dad-13359	49	4	in	in	ADP
dad-13359	49	5	this	this	DET
dad-13359	49	6	section	section	NOUN
dad-13359	49	7	,	,	PUNCT
dad-13359	49	8	we	we	PRON
dad-13359	49	9	discuss	discuss	VERB
dad-13359	49	10	the	the	DET
dad-13359	49	11	background	background	NOUN
dad-13359	49	12	to	to	ADP
dad-13359	49	13	our	our	PRON
dad-13359	49	14	study	study	NOUN
dad-13359	49	15	,	,	PUNCT
dad-13359	49	16	starting	start	VERB
dad-13359	49	17	with	with	ADP
dad-13359	49	18	contemporary	contemporary	ADJ
dad-13359	49	19	approaches	approach	NOUN
dad-13359	49	20	to	to	ADP
dad-13359	49	21	embodied	embody	VERB
dad-13359	49	22	agents	agent	NOUN
dad-13359	49	23	in	in	ADP
dad-13359	49	24	hri	hri	PROPN
dad-13359	49	25	.	.	PUNCT
dad-13359	50	1	we	we	PRON
dad-13359	50	2	then	then	ADV
dad-13359	50	3	discuss	discuss	VERB
dad-13359	50	4	recent	recent	ADJ
dad-13359	50	5	work	work	NOUN
dad-13359	50	6	where	where	SCONJ
dad-13359	50	7	graphs	graph	NOUN
dad-13359	50	8	have	have	AUX
dad-13359	50	9	been	be	AUX
dad-13359	50	10	used	use	VERB
dad-13359	50	11	with	with	ADP
dad-13359	50	12	dialogue	dialogue	NOUN
dad-13359	50	13	systems	system	NOUN
dad-13359	50	14	to	to	PART
dad-13359	50	15	represent	represent	VERB
dad-13359	50	16	situated	situated	ADJ
dad-13359	50	17	dialogue	dialogue	NOUN
dad-13359	50	18	information	information	NOUN
dad-13359	50	19	.	.	PUNCT
dad-13359	51	1	finally	finally	ADV
dad-13359	51	2	,	,	PUNCT
dad-13359	51	3	we	we	PRON
dad-13359	51	4	review	review	VERB
dad-13359	51	5	the	the	DET
dad-13359	51	6	recent	recent	ADJ
dad-13359	51	7	usage	usage	NOUN
dad-13359	51	8	of	of	ADP
dad-13359	51	9	llms	llm	NOUN
dad-13359	51	10	in	in	ADP
dad-13359	51	11	dialogue	dialogue	NOUN
dad-13359	51	12	systems	system	NOUN
dad-13359	51	13	and	and	CCONJ
dad-13359	51	14	the	the	DET
dad-13359	51	15	variety	variety	NOUN
dad-13359	51	16	of	of	ADP
dad-13359	51	17	approaches	approach	NOUN
dad-13359	51	18	to	to	ADP
dad-13359	51	19	presenting	present	VERB
dad-13359	51	20	background	background	NOUN
dad-13359	51	21	information	information	NOUN
dad-13359	51	22	to	to	ADP
dad-13359	51	23	them	they	PRON
dad-13359	51	24	,	,	PUNCT
dad-13359	51	25	including	include	VERB
dad-13359	51	26	with	with	ADP
dad-13359	51	27	graphs	graph	NOUN
dad-13359	51	28	and	and	CCONJ
dad-13359	51	29	for	for	ADP
dad-13359	51	30	embodied	embodied	ADJ
dad-13359	51	31	agents	agent	NOUN
dad-13359	51	32	.	.	PUNCT
dad-13359	52	1	2.1	2.1	NUM
dad-13359	52	2	embodied	embody	VERB
dad-13359	52	3	conversational	conversational	ADJ
dad-13359	52	4	agents	agent	NOUN
dad-13359	52	5	embodiment	embodiment	NOUN
dad-13359	52	6	refers	refer	VERB
dad-13359	52	7	broadly	broadly	ADV
dad-13359	52	8	to	to	ADP
dad-13359	52	9	the	the	DET
dad-13359	52	10	operation	operation	NOUN
dad-13359	52	11	of	of	ADP
dad-13359	52	12	an	an	DET
dad-13359	52	13	artificial	artificial	ADJ
dad-13359	52	14	agent	agent	NOUN
dad-13359	52	15	in	in	ADP
dad-13359	52	16	physical	physical	ADJ
dad-13359	52	17	space	space	NOUN
dad-13359	52	18	,	,	PUNCT
dad-13359	52	19	though	though	SCONJ
dad-13359	52	20	specific	specific	ADJ
dad-13359	52	21	definitions	definition	NOUN
dad-13359	52	22	vary	vary	VERB
dad-13359	52	23	in	in	ADP
dad-13359	52	24	precision	precision	NOUN
dad-13359	52	25	and	and	CCONJ
dad-13359	52	26	strictness	strictness	NOUN
dad-13359	52	27	(	(	PUNCT
dad-13359	52	28	miller	miller	NOUN
dad-13359	52	29	and	and	CCONJ
dad-13359	52	30	feil	feil	PROPN
dad-13359	52	31	-	-	PUNCT
dad-13359	52	32	seifer	seifer	PROPN
dad-13359	52	33	,	,	PUNCT
dad-13359	52	34	2016	2016	NUM
dad-13359	52	35	)	)	PUNCT
dad-13359	52	36	.	.	PUNCT
dad-13359	53	1	whichever	whichever	DET
dad-13359	53	2	definition	definition	NOUN
dad-13359	53	3	may	may	AUX
dad-13359	53	4	be	be	AUX
dad-13359	53	5	preferred	prefer	VERB
dad-13359	53	6	,	,	PUNCT
dad-13359	53	7	embodiment	embodiment	NOUN
dad-13359	53	8	has	have	VERB
dad-13359	53	9	a	a	DET
dad-13359	53	10	substantial	substantial	ADJ
dad-13359	53	11	impact	impact	NOUN
dad-13359	53	12	on	on	ADP
dad-13359	53	13	dialogue	dialogue	NOUN
dad-13359	53	14	and	and	CCONJ
dad-13359	53	15	affects	affect	VERB
dad-13359	53	16	how	how	SCONJ
dad-13359	53	17	speakers	speaker	NOUN
dad-13359	53	18	perceive	perceive	VERB
dad-13359	53	19	62	62	NUM
dad-13359	53	20	a	a	DET
dad-13359	53	21	graph	graph	NOUN
dad-13359	53	22	-	-	PUNCT
dad-13359	53	23	to	to	ADP
dad-13359	53	24	-	-	PUNCT
dad-13359	53	25	text	text	NOUN
dad-13359	53	26	approach	approach	NOUN
dad-13359	53	27	to	to	ADP
dad-13359	53	28	knowledge	knowledge	NOUN
dad-13359	53	29	-	-	PUNCT
dad-13359	53	30	grounded	ground	VERB
dad-13359	53	31	response	response	NOUN
dad-13359	53	32	generation	generation	NOUN
dad-13359	53	33	in	in	ADP
dad-13359	53	34	hri	hri	PROPN
dad-13359	53	35	and	and	CCONJ
dad-13359	53	36	relate	relate	VERB
dad-13359	53	37	to	to	ADP
dad-13359	53	38	the	the	DET
dad-13359	53	39	dialogue	dialogue	NOUN
dad-13359	53	40	(	(	PUNCT
dad-13359	53	41	wainer	wainer	X
dad-13359	53	42	et	et	PROPN
dad-13359	53	43	al	al	PROPN
dad-13359	53	44	.	.	PROPN
dad-13359	53	45	,	,	PUNCT
dad-13359	53	46	2006	2006	NUM
dad-13359	53	47	;	;	PUNCT
dad-13359	53	48	pickering	pickering	NOUN
dad-13359	53	49	and	and	CCONJ
dad-13359	53	50	garrod	garrod	NOUN
dad-13359	53	51	,	,	PUNCT
dad-13359	53	52	2009	2009	NUM
dad-13359	53	53	)	)	PUNCT
dad-13359	53	54	.	.	PUNCT
dad-13359	54	1	in	in	ADP
dad-13359	54	2	human	human	ADJ
dad-13359	54	3	–	–	PUNCT
dad-13359	54	4	robot	robot	NOUN
dad-13359	54	5	interaction	interaction	NOUN
dad-13359	54	6	,	,	PUNCT
dad-13359	54	7	grounding	ground	VERB
dad-13359	54	8	the	the	DET
dad-13359	54	9	dialogue	dialogue	NOUN
dad-13359	54	10	in	in	ADP
dad-13359	54	11	the	the	DET
dad-13359	54	12	physical	physical	ADJ
dad-13359	54	13	environment	environment	NOUN
dad-13359	54	14	is	be	AUX
dad-13359	54	15	often	often	ADV
dad-13359	54	16	a	a	DET
dad-13359	54	17	prerequisite	prerequisite	NOUN
dad-13359	54	18	to	to	PART
dad-13359	54	19	language	language	NOUN
dad-13359	54	20	understanding	understanding	NOUN
dad-13359	54	21	.	.	PUNCT
dad-13359	55	1	grounded	ground	VERB
dad-13359	55	2	language	language	NOUN
dad-13359	55	3	,	,	PUNCT
dad-13359	55	4	in	in	ADP
dad-13359	55	5	the	the	DET
dad-13359	55	6	sense	sense	NOUN
dad-13359	55	7	employed	employ	VERB
dad-13359	55	8	by	by	ADP
dad-13359	55	9	e.g.	e.g.	ADV
dad-13359	55	10	tellex	tellex	PROPN
dad-13359	55	11	et	et	PROPN
dad-13359	55	12	al	al	PROPN
dad-13359	55	13	.	.	PROPN
dad-13359	55	14	(	(	PUNCT
dad-13359	55	15	2020	2020	NUM
dad-13359	55	16	)	)	PUNCT
dad-13359	55	17	,	,	PUNCT
dad-13359	55	18	refers	refer	VERB
dad-13359	55	19	to	to	ADP
dad-13359	55	20	situated	situated	ADJ
dad-13359	55	21	language	language	NOUN
dad-13359	55	22	,	,	PUNCT
dad-13359	55	23	i.e.	i.e.	X
dad-13359	55	24	language	language	NOUN
dad-13359	55	25	with	with	ADP
dad-13359	55	26	meaning	meaning	NOUN
dad-13359	55	27	in	in	ADP
dad-13359	55	28	a	a	DET
dad-13359	55	29	physical	physical	ADJ
dad-13359	55	30	environment	environment	NOUN
dad-13359	55	31	.	.	PUNCT
dad-13359	56	1	in	in	ADP
dad-13359	56	2	a	a	DET
dad-13359	56	3	situated	situated	ADJ
dad-13359	56	4	scenario	scenario	NOUN
dad-13359	56	5	,	,	PUNCT
dad-13359	56	6	dialogue	dialogue	NOUN
dad-13359	56	7	between	between	ADP
dad-13359	56	8	a	a	DET
dad-13359	56	9	human	human	NOUN
dad-13359	56	10	and	and	CCONJ
dad-13359	56	11	a	a	DET
dad-13359	56	12	dialogue	dialogue	NOUN
dad-13359	56	13	agent	agent	NOUN
dad-13359	56	14	has	have	VERB
dad-13359	56	15	a	a	DET
dad-13359	56	16	direct	direct	ADJ
dad-13359	56	17	spatial	spatial	ADJ
dad-13359	56	18	relation	relation	NOUN
dad-13359	56	19	to	to	ADP
dad-13359	56	20	the	the	DET
dad-13359	56	21	surrounding	surround	VERB
dad-13359	56	22	environment	environment	NOUN
dad-13359	56	23	.	.	PUNCT
dad-13359	57	1	an	an	DET
dad-13359	57	2	embodied	embody	VERB
dad-13359	57	3	,	,	PUNCT
dad-13359	57	4	robotic	robotic	ADJ
dad-13359	57	5	agent	agent	NOUN
dad-13359	57	6	must	must	AUX
dad-13359	57	7	take	take	VERB
dad-13359	57	8	into	into	ADP
dad-13359	57	9	account	account	NOUN
dad-13359	57	10	numerous	numerous	ADJ
dad-13359	57	11	input	input	NOUN
dad-13359	57	12	sources	source	NOUN
dad-13359	57	13	from	from	ADP
dad-13359	57	14	the	the	DET
dad-13359	57	15	environment	environment	NOUN
dad-13359	57	16	as	as	ADV
dad-13359	57	17	well	well	ADV
dad-13359	57	18	as	as	ADP
dad-13359	57	19	any	any	DET
dad-13359	57	20	human	human	ADJ
dad-13359	57	21	users	user	NOUN
dad-13359	57	22	to	to	PART
dad-13359	57	23	accomplish	accomplish	VERB
dad-13359	57	24	complex	complex	ADJ
dad-13359	57	25	tasks	task	NOUN
dad-13359	57	26	requiring	require	VERB
dad-13359	57	27	both	both	PRON
dad-13359	57	28	natural	natural	ADJ
dad-13359	57	29	language	language	NOUN
dad-13359	57	30	or	or	CCONJ
dad-13359	57	31	physical	physical	ADJ
dad-13359	57	32	outputs	output	NOUN
dad-13359	57	33	,	,	PUNCT
dad-13359	57	34	i.e.	i.e.	X
dad-13359	57	35	movement	movement	NOUN
dad-13359	57	36	.	.	PUNCT
dad-13359	58	1	beyond	beyond	ADP
dad-13359	58	2	spatial	spatial	ADJ
dad-13359	58	3	data	datum	NOUN
dad-13359	58	4	and	and	CCONJ
dad-13359	58	5	language	language	NOUN
dad-13359	58	6	input	input	NOUN
dad-13359	58	7	,	,	PUNCT
dad-13359	58	8	visual	visual	ADJ
dad-13359	58	9	perceptions	perception	NOUN
dad-13359	58	10	of	of	ADP
dad-13359	58	11	varying	vary	VERB
dad-13359	58	12	kinds	kind	NOUN
dad-13359	58	13	are	be	AUX
dad-13359	58	14	an	an	DET
dad-13359	58	15	important	important	ADJ
dad-13359	58	16	source	source	NOUN
dad-13359	58	17	of	of	ADP
dad-13359	58	18	information	information	NOUN
dad-13359	58	19	for	for	ADP
dad-13359	58	20	the	the	DET
dad-13359	58	21	dialogue	dialogue	NOUN
dad-13359	58	22	.	.	PUNCT
dad-13359	59	1	these	these	DET
dad-13359	59	2	kinds	kind	NOUN
dad-13359	59	3	of	of	ADP
dad-13359	59	4	information	information	NOUN
dad-13359	59	5	may	may	AUX
dad-13359	59	6	also	also	ADV
dad-13359	59	7	be	be	AUX
dad-13359	59	8	viewed	view	VERB
dad-13359	59	9	in	in	ADP
dad-13359	59	10	relation	relation	NOUN
dad-13359	59	11	to	to	ADP
dad-13359	59	12	time	time	NOUN
dad-13359	59	13	.	.	PUNCT
dad-13359	60	1	for	for	ADP
dad-13359	60	2	instance	instance	NOUN
dad-13359	60	3	,	,	PUNCT
dad-13359	60	4	the	the	DET
dad-13359	60	5	utterances	utterance	NOUN
dad-13359	60	6	in	in	ADP
dad-13359	60	7	a	a	DET
dad-13359	60	8	dialogue	dialogue	NOUN
dad-13359	60	9	are	be	AUX
dad-13359	60	10	naturally	naturally	ADV
dad-13359	60	11	temporally	temporally	ADV
dad-13359	60	12	related	relate	VERB
dad-13359	60	13	.	.	PUNCT
dad-13359	61	1	moreover	moreover	ADV
dad-13359	61	2	,	,	PUNCT
dad-13359	61	3	embodied	embody	VERB
dad-13359	61	4	agents	agent	NOUN
dad-13359	61	5	may	may	AUX
dad-13359	61	6	take	take	VERB
dad-13359	61	7	different	different	ADJ
dad-13359	61	8	actions	action	NOUN
dad-13359	61	9	depending	depend	VERB
dad-13359	61	10	on	on	ADP
dad-13359	61	11	what	what	DET
dad-13359	61	12	information	information	NOUN
dad-13359	61	13	is	be	AUX
dad-13359	61	14	most	most	ADV
dad-13359	61	15	recently	recently	ADV
dad-13359	61	16	observed	observe	VERB
dad-13359	61	17	.	.	PUNCT
dad-13359	62	1	linguistic	linguistic	ADJ
dad-13359	62	2	,	,	PUNCT
dad-13359	62	3	visual	visual	ADJ
dad-13359	62	4	,	,	PUNCT
dad-13359	62	5	and	and	CCONJ
dad-13359	62	6	spatial	spatial	ADJ
dad-13359	62	7	information	information	NOUN
dad-13359	62	8	acquired	acquire	VERB
dad-13359	62	9	by	by	ADP
dad-13359	62	10	the	the	DET
dad-13359	62	11	robot	robot	NOUN
dad-13359	62	12	may	may	AUX
dad-13359	62	13	also	also	ADV
dad-13359	62	14	be	be	AUX
dad-13359	62	15	uncertain	uncertain	ADJ
dad-13359	62	16	,	,	PUNCT
dad-13359	62	17	presenting	present	VERB
dad-13359	62	18	an	an	DET
dad-13359	62	19	additional	additional	ADJ
dad-13359	62	20	challenge	challenge	NOUN
dad-13359	62	21	in	in	ADP
dad-13359	62	22	effectively	effectively	ADV
dad-13359	62	23	leveraging	leverage	VERB
dad-13359	62	24	world	world	NOUN
dad-13359	62	25	knowledge	knowledge	NOUN
dad-13359	62	26	to	to	PART
dad-13359	62	27	accomplish	accomplish	VERB
dad-13359	62	28	tasks	task	NOUN
dad-13359	62	29	.	.	PUNCT
dad-13359	63	1	the	the	DET
dad-13359	63	2	agent	agent	NOUN
dad-13359	63	3	’s	’s	PART
dad-13359	63	4	grounding	grounding	NOUN
dad-13359	63	5	in	in	ADP
dad-13359	63	6	the	the	DET
dad-13359	63	7	physical	physical	ADJ
dad-13359	63	8	world	world	NOUN
dad-13359	63	9	is	be	AUX
dad-13359	63	10	subject	subject	ADJ
dad-13359	63	11	to	to	ADP
dad-13359	63	12	uncertainty	uncertainty	NOUN
dad-13359	63	13	arising	arise	VERB
dad-13359	63	14	from	from	ADP
dad-13359	63	15	both	both	CCONJ
dad-13359	63	16	perceptual	perceptual	ADJ
dad-13359	63	17	module	module	NOUN
dad-13359	63	18	errors	error	NOUN
dad-13359	63	19	as	as	ADV
dad-13359	63	20	well	well	ADV
dad-13359	63	21	as	as	ADP
dad-13359	63	22	inherently	inherently	ADV
dad-13359	63	23	uncertain	uncertain	ADJ
dad-13359	63	24	aspects	aspect	NOUN
dad-13359	63	25	of	of	ADP
dad-13359	63	26	the	the	DET
dad-13359	63	27	environment	environment	NOUN
dad-13359	63	28	.	.	PUNCT
dad-13359	64	1	thus	thus	ADV
dad-13359	64	2	,	,	PUNCT
dad-13359	64	3	temporality	temporality	NOUN
dad-13359	64	4	and	and	CCONJ
dad-13359	64	5	probability	probability	NOUN
dad-13359	64	6	interact	interact	VERB
dad-13359	64	7	with	with	ADP
dad-13359	64	8	these	these	DET
dad-13359	64	9	kinds	kind	NOUN
dad-13359	64	10	of	of	ADP
dad-13359	64	11	data	datum	NOUN
dad-13359	64	12	to	to	PART
dad-13359	64	13	present	present	VERB
dad-13359	64	14	a	a	DET
dad-13359	64	15	nuanced	nuanced	ADJ
dad-13359	64	16	picture	picture	NOUN
dad-13359	64	17	of	of	ADP
dad-13359	64	18	the	the	DET
dad-13359	64	19	world	world	NOUN
dad-13359	64	20	for	for	SCONJ
dad-13359	64	21	the	the	DET
dad-13359	64	22	agent	agent	NOUN
dad-13359	64	23	to	to	PART
dad-13359	64	24	act	act	VERB
dad-13359	64	25	upon	upon	SCONJ
dad-13359	64	26	.	.	PUNCT
dad-13359	65	1	when	when	SCONJ
dad-13359	65	2	quantified	quantify	VERB
dad-13359	65	3	and	and	CCONJ
dad-13359	65	4	represented	represent	VERB
dad-13359	65	5	by	by	ADP
dad-13359	65	6	the	the	DET
dad-13359	65	7	system	system	NOUN
dad-13359	65	8	,	,	PUNCT
dad-13359	65	9	uncertainty	uncertainty	NOUN
dad-13359	65	10	about	about	ADP
dad-13359	65	11	the	the	DET
dad-13359	65	12	environment	environment	NOUN
dad-13359	65	13	or	or	CCONJ
dad-13359	65	14	dialogue	dialogue	NOUN
dad-13359	65	15	state	state	NOUN
dad-13359	65	16	can	can	AUX
dad-13359	65	17	be	be	AUX
dad-13359	65	18	communicated	communicate	VERB
dad-13359	65	19	to	to	ADP
dad-13359	65	20	the	the	DET
dad-13359	65	21	user	user	NOUN
dad-13359	65	22	(	(	PUNCT
dad-13359	65	23	hough	hough	PROPN
dad-13359	65	24	and	and	CCONJ
dad-13359	65	25	schlangen	schlangen	NOUN
dad-13359	65	26	,	,	PUNCT
dad-13359	65	27	2017	2017	NUM
dad-13359	65	28	)	)	PUNCT
dad-13359	65	29	.	.	PUNCT
dad-13359	66	1	by	by	ADP
dad-13359	66	2	dialogue	dialogue	NOUN
dad-13359	66	3	state	state	NOUN
dad-13359	66	4	,	,	PUNCT
dad-13359	66	5	we	we	PRON
dad-13359	66	6	refer	refer	VERB
dad-13359	66	7	to	to	ADP
dad-13359	66	8	a	a	DET
dad-13359	66	9	representation	representation	NOUN
dad-13359	66	10	of	of	ADP
dad-13359	66	11	the	the	DET
dad-13359	66	12	current	current	ADJ
dad-13359	66	13	dialogue	dialogue	NOUN
dad-13359	66	14	context	context	NOUN
dad-13359	66	15	which	which	PRON
dad-13359	66	16	contains	contain	VERB
dad-13359	66	17	all	all	DET
dad-13359	66	18	information	information	NOUN
dad-13359	66	19	that	that	PRON
dad-13359	66	20	is	be	AUX
dad-13359	66	21	relevant	relevant	ADJ
dad-13359	66	22	for	for	ADP
dad-13359	66	23	responding	respond	VERB
dad-13359	66	24	to	to	ADP
dad-13359	66	25	user	user	NOUN
dad-13359	66	26	utterances	utterance	NOUN
dad-13359	66	27	.	.	PUNCT
dad-13359	67	1	within	within	ADP
dad-13359	67	2	hri	hri	PROPN
dad-13359	67	3	,	,	PUNCT
dad-13359	67	4	language	language	NOUN
dad-13359	67	5	input	input	NOUN
dad-13359	67	6	is	be	AUX
dad-13359	67	7	one	one	NUM
dad-13359	67	8	communication	communication	NOUN
dad-13359	67	9	medium	medium	NOUN
dad-13359	67	10	among	among	ADP
dad-13359	67	11	many	many	ADJ
dad-13359	67	12	that	that	PRON
dad-13359	67	13	can	can	AUX
dad-13359	67	14	be	be	AUX
dad-13359	67	15	used	use	VERB
dad-13359	67	16	to	to	PART
dad-13359	67	17	interact	interact	VERB
dad-13359	67	18	with	with	ADP
dad-13359	67	19	a	a	DET
dad-13359	67	20	robot	robot	NOUN
dad-13359	67	21	(	(	PUNCT
dad-13359	67	22	goodrich	goodrich	NOUN
dad-13359	67	23	et	et	PROPN
dad-13359	67	24	al	al	PROPN
dad-13359	67	25	.	.	PROPN
dad-13359	67	26	,	,	PUNCT
dad-13359	67	27	2008	2008	NUM
dad-13359	67	28	)	)	PUNCT
dad-13359	67	29	.	.	PUNCT
dad-13359	68	1	in	in	ADP
dad-13359	68	2	some	some	DET
dad-13359	68	3	cases	case	NOUN
dad-13359	68	4	,	,	PUNCT
dad-13359	68	5	it	it	PRON
dad-13359	68	6	may	may	AUX
dad-13359	68	7	be	be	AUX
dad-13359	68	8	used	use	VERB
dad-13359	68	9	to	to	PART
dad-13359	68	10	instruct	instruct	VERB
dad-13359	68	11	a	a	DET
dad-13359	68	12	robot	robot	NOUN
dad-13359	68	13	to	to	PART
dad-13359	68	14	perform	perform	VERB
dad-13359	68	15	actions	action	NOUN
dad-13359	68	16	in	in	ADP
dad-13359	68	17	its	its	PRON
dad-13359	68	18	physical	physical	ADJ
dad-13359	68	19	environment	environment	NOUN
dad-13359	68	20	.	.	PUNCT
dad-13359	69	1	for	for	ADP
dad-13359	69	2	example	example	NOUN
dad-13359	69	3	,	,	PUNCT
dad-13359	69	4	rankin	rankin	PROPN
dad-13359	69	5	et	et	PROPN
dad-13359	69	6	al	al	PROPN
dad-13359	69	7	.	.	PROPN
dad-13359	70	1	(	(	PUNCT
dad-13359	70	2	2021	2021	NUM
dad-13359	70	3	)	)	PUNCT
dad-13359	70	4	demonstrated	demonstrate	VERB
dad-13359	70	5	semantic	semantic	ADJ
dad-13359	70	6	parsing	parsing	NOUN
dad-13359	70	7	of	of	ADP
dad-13359	70	8	instructions	instruction	NOUN
dad-13359	70	9	to	to	PART
dad-13359	70	10	associate	associate	VERB
dad-13359	70	11	the	the	DET
dad-13359	70	12	instructions	instruction	NOUN
dad-13359	70	13	with	with	ADP
dad-13359	70	14	desired	desire	VERB
dad-13359	70	15	locations	location	NOUN
dad-13359	70	16	for	for	SCONJ
dad-13359	70	17	the	the	DET
dad-13359	70	18	robot	robot	NOUN
dad-13359	70	19	to	to	PART
dad-13359	70	20	explore	explore	VERB
dad-13359	70	21	.	.	PUNCT
dad-13359	71	1	in	in	ADP
dad-13359	71	2	a	a	DET
dad-13359	71	3	smaller	small	ADJ
dad-13359	71	4	setting	setting	NOUN
dad-13359	71	5	,	,	PUNCT
dad-13359	71	6	lynch	lynch	PROPN
dad-13359	71	7	et	et	PROPN
dad-13359	71	8	al	al	PROPN
dad-13359	71	9	.	.	PROPN
dad-13359	71	10	(	(	PUNCT
dad-13359	71	11	2023	2023	NUM
dad-13359	71	12	)	)	PUNCT
dad-13359	71	13	explored	explore	VERB
dad-13359	71	14	the	the	DET
dad-13359	71	15	use	use	NOUN
dad-13359	71	16	of	of	ADP
dad-13359	71	17	imitation	imitation	NOUN
dad-13359	71	18	learning	learn	VERB
dad-13359	71	19	through	through	ADP
dad-13359	71	20	natural	natural	ADJ
dad-13359	71	21	language	language	NOUN
dad-13359	71	22	instructions	instruction	NOUN
dad-13359	71	23	to	to	PART
dad-13359	71	24	guide	guide	VERB
dad-13359	71	25	a	a	DET
dad-13359	71	26	robotic	robotic	ADJ
dad-13359	71	27	arm	arm	NOUN
dad-13359	71	28	to	to	PART
dad-13359	71	29	move	move	VERB
dad-13359	71	30	objects	object	NOUN
dad-13359	71	31	.	.	PUNCT
dad-13359	72	1	the	the	DET
dad-13359	72	2	real	real	ADJ
dad-13359	72	3	-	-	PUNCT
dad-13359	72	4	time	time	NOUN
dad-13359	72	5	task	task	NOUN
dad-13359	72	6	required	require	VERB
dad-13359	72	7	an	an	DET
dad-13359	72	8	approach	approach	NOUN
dad-13359	72	9	that	that	PRON
dad-13359	72	10	could	could	AUX
dad-13359	72	11	account	account	VERB
dad-13359	72	12	for	for	ADP
dad-13359	72	13	both	both	CCONJ
dad-13359	72	14	spatial	spatial	ADJ
dad-13359	72	15	information	information	NOUN
dad-13359	72	16	and	and	CCONJ
dad-13359	72	17	the	the	DET
dad-13359	72	18	temporal	temporal	ADJ
dad-13359	72	19	ordering	ordering	NOUN
dad-13359	72	20	of	of	ADP
dad-13359	72	21	actions	action	NOUN
dad-13359	72	22	and	and	CCONJ
dad-13359	72	23	instructions	instruction	NOUN
dad-13359	72	24	given	give	VERB
dad-13359	72	25	to	to	ADP
dad-13359	72	26	the	the	DET
dad-13359	72	27	robot	robot	NOUN
dad-13359	72	28	.	.	PUNCT
dad-13359	73	1	another	another	DET
dad-13359	73	2	model	model	NOUN
dad-13359	73	3	integrating	integrate	VERB
dad-13359	73	4	spatio	spatio	PROPN
dad-13359	73	5	-	-	PUNCT
dad-13359	73	6	temporal	temporal	ADJ
dad-13359	73	7	grounding	grounding	NOUN
dad-13359	73	8	was	be	AUX
dad-13359	73	9	presented	present	VERB
dad-13359	73	10	by	by	ADP
dad-13359	73	11	shah	shah	PROPN
dad-13359	73	12	et	et	PROPN
dad-13359	73	13	al	al	PROPN
dad-13359	73	14	.	.	PROPN
dad-13359	74	1	(	(	PUNCT
dad-13359	74	2	2023	2023	NUM
dad-13359	74	3	)	)	PUNCT
dad-13359	74	4	.	.	PUNCT
dad-13359	75	1	in	in	ADP
dad-13359	75	2	their	their	PRON
dad-13359	75	3	model	model	NOUN
dad-13359	75	4	,	,	PUNCT
dad-13359	75	5	a	a	DET
dad-13359	75	6	robotic	robotic	ADJ
dad-13359	75	7	navigation	navigation	NOUN
dad-13359	75	8	system	system	NOUN
dad-13359	75	9	combines	combine	VERB
dad-13359	75	10	a	a	DET
dad-13359	75	11	pre	pre	ADJ
dad-13359	75	12	-	-	ADJ
dad-13359	75	13	trained	train	VERB
dad-13359	75	14	visual	visual	ADJ
dad-13359	75	15	navigation	navigation	NOUN
dad-13359	75	16	module	module	NOUN
dad-13359	75	17	with	with	ADP
dad-13359	75	18	an	an	DET
dad-13359	75	19	llm	llm	NOUN
dad-13359	75	20	to	to	PART
dad-13359	75	21	construct	construct	VERB
dad-13359	75	22	a	a	DET
dad-13359	75	23	path	path	NOUN
dad-13359	75	24	following	follow	VERB
dad-13359	75	25	instructions	instruction	NOUN
dad-13359	75	26	.	.	PUNCT
dad-13359	76	1	this	this	DET
dad-13359	76	2	approach	approach	NOUN
dad-13359	76	3	first	first	ADV
dad-13359	76	4	identifies	identify	VERB
dad-13359	76	5	landmarks	landmark	NOUN
dad-13359	76	6	with	with	ADP
dad-13359	76	7	an	an	DET
dad-13359	76	8	llm	llm	NOUN
dad-13359	76	9	and	and	CCONJ
dad-13359	76	10	subsequently	subsequently	ADV
dad-13359	76	11	grounds	ground	VERB
dad-13359	76	12	this	this	DET
dad-13359	76	13	information	information	NOUN
dad-13359	76	14	in	in	ADP
dad-13359	76	15	a	a	DET
dad-13359	76	16	set	set	NOUN
dad-13359	76	17	of	of	ADP
dad-13359	76	18	visual	visual	ADJ
dad-13359	76	19	inputs	input	NOUN
dad-13359	76	20	from	from	ADP
dad-13359	76	21	the	the	DET
dad-13359	76	22	navigation	navigation	NOUN
dad-13359	76	23	area	area	NOUN
dad-13359	76	24	using	use	VERB
dad-13359	76	25	a	a	DET
dad-13359	76	26	second	second	ADJ
dad-13359	76	27	module	module	NOUN
dad-13359	76	28	.	.	PUNCT
dad-13359	77	1	each	each	PRON
dad-13359	77	2	of	of	ADP
dad-13359	77	3	these	these	DET
dad-13359	77	4	approaches	approach	NOUN
dad-13359	77	5	required	require	VERB
dad-13359	77	6	alignment	alignment	NOUN
dad-13359	77	7	of	of	ADP
dad-13359	77	8	language	language	NOUN
dad-13359	77	9	input	input	NOUN
dad-13359	77	10	to	to	ADP
dad-13359	77	11	the	the	DET
dad-13359	77	12	robot	robot	NOUN
dad-13359	77	13	’s	’s	PART
dad-13359	77	14	physical	physical	ADJ
dad-13359	77	15	environment	environment	NOUN
dad-13359	77	16	.	.	PUNCT
dad-13359	78	1	2.2	2.2	NUM
dad-13359	78	2	knowledge	knowledge	NOUN
dad-13359	78	3	graphs	graph	NOUN
dad-13359	78	4	for	for	ADP
dad-13359	78	5	dialogue	dialogue	NOUN
dad-13359	78	6	2.2.1	2.2.1	NUM
dad-13359	78	7	graph	graph	NOUN
dad-13359	78	8	-	-	PUNCT
dad-13359	78	9	based	base	VERB
dad-13359	78	10	representations	representation	NOUN
dad-13359	78	11	while	while	SCONJ
dad-13359	78	12	dialogue	dialogue	NOUN
dad-13359	78	13	state	state	NOUN
dad-13359	78	14	information	information	NOUN
dad-13359	78	15	may	may	AUX
dad-13359	78	16	be	be	AUX
dad-13359	78	17	represented	represent	VERB
dad-13359	78	18	in	in	ADP
dad-13359	78	19	numerous	numerous	ADJ
dad-13359	78	20	ways	way	NOUN
dad-13359	78	21	,	,	PUNCT
dad-13359	78	22	graphs	graph	NOUN
dad-13359	78	23	are	be	AUX
dad-13359	78	24	a	a	DET
dad-13359	78	25	flexible	flexible	ADJ
dad-13359	78	26	data	data	NOUN
dad-13359	78	27	structure	structure	NOUN
dad-13359	78	28	with	with	ADP
dad-13359	78	29	desirable	desirable	ADJ
dad-13359	78	30	properties	property	NOUN
dad-13359	78	31	with	with	ADP
dad-13359	78	32	regard	regard	NOUN
dad-13359	78	33	to	to	ADP
dad-13359	78	34	both	both	DET
dad-13359	78	35	natural	natural	ADJ
dad-13359	78	36	language	language	NOUN
dad-13359	78	37	and	and	CCONJ
dad-13359	78	38	the	the	DET
dad-13359	78	39	physical	physical	ADJ
dad-13359	78	40	world	world	NOUN
dad-13359	78	41	.	.	PUNCT
dad-13359	79	1	a	a	DET
dad-13359	79	2	graph	graph	NOUN
dad-13359	79	3	g	g	NOUN
dad-13359	79	4	consists	consist	VERB
dad-13359	79	5	of	of	ADP
dad-13359	79	6	a	a	DET
dad-13359	79	7	set	set	NOUN
dad-13359	79	8	of	of	ADP
dad-13359	79	9	vertices	vertex	NOUN
dad-13359	79	10	(	(	PUNCT
dad-13359	79	11	or	or	CCONJ
dad-13359	79	12	nodes	node	NOUN
dad-13359	79	13	)	)	PUNCT
dad-13359	79	14	v	v	NOUN
dad-13359	79	15	paired	pair	VERB
dad-13359	79	16	with	with	ADP
dad-13359	79	17	a	a	DET
dad-13359	79	18	set	set	NOUN
dad-13359	79	19	of	of	ADP
dad-13359	79	20	edges	edge	NOUN
dad-13359	79	21	e.	e.	PROPN
dad-13359	80	1	each	each	DET
dad-13359	80	2	edge	edge	NOUN
dad-13359	80	3	describes	describe	VERB
dad-13359	80	4	a	a	DET
dad-13359	80	5	pair	pair	NOUN
dad-13359	80	6	of	of	ADP
dad-13359	80	7	vertices	vertex	NOUN
dad-13359	80	8	,	,	PUNCT
dad-13359	80	9	which	which	PRON
dad-13359	80	10	may	may	AUX
dad-13359	80	11	be	be	AUX
dad-13359	80	12	ordered	order	VERB
dad-13359	80	13	or	or	CCONJ
dad-13359	80	14	unordered	unordered	ADJ
dad-13359	80	15	(	(	PUNCT
dad-13359	80	16	describing	describe	VERB
dad-13359	80	17	a	a	DET
dad-13359	80	18	directed	direct	VERB
dad-13359	80	19	or	or	CCONJ
dad-13359	80	20	undirected	undirected	ADJ
dad-13359	80	21	graph	graph	NOUN
dad-13359	80	22	,	,	PUNCT
dad-13359	80	23	respectively	respectively	ADV
dad-13359	80	24	)	)	PUNCT
dad-13359	80	25	.	.	PUNCT
dad-13359	81	1	knowledge	knowledge	NOUN
dad-13359	81	2	graphs	graph	NOUN
dad-13359	81	3	specifically	specifically	ADV
dad-13359	81	4	represent	represent	VERB
dad-13359	81	5	entities	entity	NOUN
dad-13359	81	6	,	,	PUNCT
dad-13359	81	7	that	that	PRON
dad-13359	81	8	is	be	AUX
dad-13359	81	9	to	to	PART
dad-13359	81	10	say	say	VERB
dad-13359	81	11	objects	object	NOUN
dad-13359	81	12	and	and	CCONJ
dad-13359	81	13	concepts	concept	NOUN
dad-13359	81	14	,	,	PUNCT
dad-13359	81	15	as	as	ADV
dad-13359	81	16	well	well	ADV
dad-13359	81	17	as	as	ADP
dad-13359	81	18	relations	relation	NOUN
dad-13359	81	19	between	between	ADP
dad-13359	81	20	them	they	PRON
dad-13359	81	21	.	.	PUNCT
dad-13359	82	1	an	an	DET
dad-13359	82	2	example	example	NOUN
dad-13359	82	3	of	of	ADP
dad-13359	82	4	graph	graph	NOUN
dad-13359	82	5	-	-	PUNCT
dad-13359	82	6	structured	structure	VERB
dad-13359	82	7	background	background	NOUN
dad-13359	82	8	information	information	NOUN
dad-13359	82	9	for	for	ADP
dad-13359	82	10	dialogue	dialogue	NOUN
dad-13359	82	11	is	be	AUX
dad-13359	82	12	the	the	DET
dad-13359	82	13	dataset	dataset	NOUN
dad-13359	82	14	of	of	ADP
dad-13359	82	15	eric	eric	PROPN
dad-13359	82	16	et	et	PROPN
dad-13359	82	17	al	al	PROPN
dad-13359	82	18	.	.	PROPN
dad-13359	83	1	(	(	PUNCT
dad-13359	83	2	2017	2017	NUM
dad-13359	83	3	)	)	PUNCT
dad-13359	83	4	.	.	PUNCT
dad-13359	84	1	in	in	ADP
dad-13359	84	2	this	this	DET
dad-13359	84	3	dataset	dataset	NOUN
dad-13359	84	4	,	,	PUNCT
dad-13359	84	5	each	each	DET
dad-13359	84	6	dialogue	dialogue	NOUN
dad-13359	84	7	is	be	AUX
dad-13359	84	8	associated	associate	VERB
dad-13359	84	9	with	with	ADP
dad-13359	84	10	a	a	DET
dad-13359	84	11	knowledge	knowledge	NOUN
dad-13359	84	12	base	base	NOUN
dad-13359	84	13	of	of	ADP
dad-13359	84	14	entities	entity	NOUN
dad-13359	84	15	for	for	ADP
dad-13359	84	16	the	the	DET
dad-13359	84	17	dialogue	dialogue	NOUN
dad-13359	84	18	system	system	NOUN
dad-13359	84	19	to	to	PART
dad-13359	84	20	retrieve	retrieve	VERB
dad-13359	84	21	in	in	ADP
dad-13359	84	22	response	response	NOUN
dad-13359	84	23	to	to	ADP
dad-13359	84	24	user	user	NOUN
dad-13359	84	25	queries	query	NOUN
dad-13359	84	26	.	.	PUNCT
dad-13359	85	1	the	the	DET
dad-13359	85	2	63	63	NUM
dad-13359	85	3	walker	walker	NOUN
dad-13359	85	4	,	,	PUNCT
dad-13359	85	5	ultes	ulte	NOUN
dad-13359	85	6	and	and	CCONJ
dad-13359	85	7	lison	lison	NOUN
dad-13359	85	8	dataset	dataset	NOUN
dad-13359	85	9	comprises	comprise	VERB
dad-13359	85	10	three	three	NUM
dad-13359	85	11	domains	domain	NOUN
dad-13359	85	12	,	,	PUNCT
dad-13359	85	13	of	of	ADP
dad-13359	85	14	which	which	PRON
dad-13359	85	15	the	the	DET
dad-13359	85	16	navigation	navigation	NOUN
dad-13359	85	17	domain	domain	NOUN
dad-13359	85	18	represents	represent	VERB
dad-13359	85	19	entities	entity	NOUN
dad-13359	85	20	with	with	ADP
dad-13359	85	21	a	a	DET
dad-13359	85	22	spatial	spatial	ADJ
dad-13359	85	23	relation	relation	NOUN
dad-13359	85	24	(	(	PUNCT
dad-13359	85	25	distance	distance	NOUN
dad-13359	85	26	)	)	PUNCT
dad-13359	85	27	to	to	ADP
dad-13359	85	28	the	the	DET
dad-13359	85	29	speaker	speaker	NOUN
dad-13359	85	30	and	and	CCONJ
dad-13359	85	31	dialogue	dialogue	NOUN
dad-13359	85	32	agent	agent	NOUN
dad-13359	85	33	.	.	PUNCT
dad-13359	86	1	with	with	ADP
dad-13359	86	2	this	this	DET
dad-13359	86	3	property	property	NOUN
dad-13359	86	4	,	,	PUNCT
dad-13359	86	5	the	the	DET
dad-13359	86	6	dialogue	dialogue	NOUN
dad-13359	86	7	system	system	NOUN
dad-13359	86	8	can	can	AUX
dad-13359	86	9	reason	reason	VERB
dad-13359	86	10	over	over	ADP
dad-13359	86	11	the	the	DET
dad-13359	86	12	dialogue	dialogue	NOUN
dad-13359	86	13	context	context	NOUN
dad-13359	86	14	to	to	PART
dad-13359	86	15	infer	infer	VERB
dad-13359	86	16	closest	close	ADJ
dad-13359	86	17	locations	location	NOUN
dad-13359	86	18	to	to	PART
dad-13359	86	19	recommend	recommend	VERB
dad-13359	86	20	to	to	ADP
dad-13359	86	21	the	the	DET
dad-13359	86	22	user	user	NOUN
dad-13359	86	23	.	.	PUNCT
dad-13359	87	1	another	another	DET
dad-13359	87	2	graphbased	graphbased	ADJ
dad-13359	87	3	model	model	NOUN
dad-13359	87	4	of	of	ADP
dad-13359	87	5	spatial	spatial	ADJ
dad-13359	87	6	information	information	NOUN
dad-13359	87	7	for	for	ADP
dad-13359	87	8	embodied	embodied	ADJ
dad-13359	87	9	agents	agent	NOUN
dad-13359	87	10	is	be	AUX
dad-13359	87	11	the	the	DET
dad-13359	87	12	scene	scene	NOUN
dad-13359	87	13	graph	graph	NOUN
dad-13359	87	14	(	(	PUNCT
dad-13359	87	15	xu	xu	INTJ
dad-13359	87	16	et	et	PROPN
dad-13359	87	17	al	al	PROPN
dad-13359	87	18	.	.	PROPN
dad-13359	87	19	,	,	PUNCT
dad-13359	87	20	2020	2020	NUM
dad-13359	87	21	)	)	PUNCT
dad-13359	87	22	,	,	PUNCT
dad-13359	87	23	which	which	PRON
dad-13359	87	24	represents	represent	VERB
dad-13359	87	25	physical	physical	ADJ
dad-13359	87	26	objects	object	NOUN
dad-13359	87	27	as	as	ADP
dad-13359	87	28	graph	graph	NOUN
dad-13359	87	29	nodes	node	NOUN
dad-13359	87	30	and	and	CCONJ
dad-13359	87	31	spatial	spatial	ADJ
dad-13359	87	32	relations	relation	NOUN
dad-13359	87	33	as	as	ADP
dad-13359	87	34	edges	edge	NOUN
dad-13359	87	35	between	between	ADP
dad-13359	87	36	them	they	PRON
dad-13359	87	37	.	.	PUNCT
dad-13359	88	1	similarly	similarly	ADV
dad-13359	88	2	,	,	PUNCT
dad-13359	88	3	in	in	ADP
dad-13359	88	4	the	the	DET
dad-13359	88	5	model	model	NOUN
dad-13359	88	6	presented	present	VERB
dad-13359	88	7	by	by	ADP
dad-13359	88	8	li	li	PROPN
dad-13359	88	9	et	et	PROPN
dad-13359	88	10	al	al	PROPN
dad-13359	88	11	.	.	PROPN
dad-13359	88	12	(	(	PUNCT
dad-13359	88	13	2022b	2022b	NUM
dad-13359	88	14	)	)	PUNCT
dad-13359	88	15	,	,	PUNCT
dad-13359	88	16	an	an	DET
dad-13359	88	17	embodied	embodied	ADJ
dad-13359	88	18	scene	scene	NOUN
dad-13359	88	19	graph	graph	NOUN
dad-13359	88	20	can	can	AUX
dad-13359	88	21	also	also	ADV
dad-13359	88	22	be	be	AUX
dad-13359	88	23	generated	generate	VERB
dad-13359	88	24	by	by	ADP
dad-13359	88	25	a	a	DET
dad-13359	88	26	model	model	NOUN
dad-13359	88	27	trained	train	VERB
dad-13359	88	28	with	with	ADP
dad-13359	88	29	imitation	imitation	NOUN
dad-13359	88	30	and	and	CCONJ
dad-13359	88	31	reinforcement	reinforcement	NOUN
dad-13359	88	32	learning	learning	NOUN
dad-13359	88	33	.	.	PUNCT
dad-13359	89	1	the	the	DET
dad-13359	89	2	resulting	result	VERB
dad-13359	89	3	graphs	graph	NOUN
dad-13359	89	4	can	can	AUX
dad-13359	89	5	then	then	ADV
dad-13359	89	6	be	be	AUX
dad-13359	89	7	applied	apply	VERB
dad-13359	89	8	to	to	ADP
dad-13359	89	9	downstream	downstream	ADJ
dad-13359	89	10	tasks	task	NOUN
dad-13359	89	11	requiring	require	VERB
dad-13359	89	12	spatial	spatial	ADJ
dad-13359	89	13	information	information	NOUN
dad-13359	89	14	.	.	PUNCT
dad-13359	90	1	within	within	ADP
dad-13359	90	2	language	language	NOUN
dad-13359	90	3	data	datum	NOUN
dad-13359	90	4	specifically	specifically	ADV
dad-13359	90	5	,	,	PUNCT
dad-13359	90	6	both	both	CCONJ
dad-13359	90	7	utterance	utterance	ADJ
dad-13359	90	8	and	and	CCONJ
dad-13359	90	9	dialogue	dialogue	NOUN
dad-13359	90	10	level	level	NOUN
dad-13359	90	11	structures	structure	NOUN
dad-13359	90	12	can	can	AUX
dad-13359	90	13	be	be	AUX
dad-13359	90	14	expressively	expressively	ADV
dad-13359	90	15	rendered	render	VERB
dad-13359	90	16	as	as	ADP
dad-13359	90	17	graphs	graph	NOUN
dad-13359	90	18	such	such	ADJ
dad-13359	90	19	as	as	ADP
dad-13359	90	20	those	those	PRON
dad-13359	90	21	of	of	ADP
dad-13359	90	22	the	the	DET
dad-13359	90	23	abstract	abstract	ADJ
dad-13359	90	24	meaning	meaning	NOUN
dad-13359	90	25	representation	representation	NOUN
dad-13359	90	26	paradigm	paradigm	NOUN
dad-13359	90	27	(	(	PUNCT
dad-13359	90	28	banarescu	banarescu	NOUN
dad-13359	90	29	et	et	PROPN
dad-13359	90	30	al	al	PROPN
dad-13359	90	31	.	.	PROPN
dad-13359	90	32	,	,	PUNCT
dad-13359	90	33	2013	2013	NUM
dad-13359	90	34	)	)	PUNCT
dad-13359	90	35	.	.	PUNCT
dad-13359	91	1	a	a	DET
dad-13359	91	2	relevant	relevant	ADJ
dad-13359	91	3	use	use	NOUN
dad-13359	91	4	of	of	ADP
dad-13359	91	5	this	this	DET
dad-13359	91	6	paradigm	paradigm	NOUN
dad-13359	91	7	was	be	AUX
dad-13359	91	8	presented	present	VERB
dad-13359	91	9	by	by	ADP
dad-13359	91	10	bonial	bonial	PROPN
dad-13359	91	11	et	et	PROPN
dad-13359	91	12	al	al	PROPN
dad-13359	91	13	.	.	PROPN
dad-13359	92	1	(	(	PUNCT
dad-13359	92	2	2020	2020	NUM
dad-13359	92	3	)	)	PUNCT
dad-13359	92	4	,	,	PUNCT
dad-13359	92	5	extending	extend	VERB
dad-13359	92	6	the	the	DET
dad-13359	92	7	amr	amr	ADJ
dad-13359	92	8	schema	schema	NOUN
dad-13359	92	9	for	for	ADP
dad-13359	92	10	dialogue	dialogue	NOUN
dad-13359	92	11	with	with	ADP
dad-13359	92	12	a	a	DET
dad-13359	92	13	robot	robot	NOUN
dad-13359	92	14	performing	perform	VERB
dad-13359	92	15	tasks	task	NOUN
dad-13359	92	16	in	in	ADP
dad-13359	92	17	search	search	NOUN
dad-13359	92	18	and	and	CCONJ
dad-13359	92	19	navigation	navigation	NOUN
dad-13359	92	20	.	.	PUNCT
dad-13359	93	1	their	their	PRON
dad-13359	93	2	model	model	NOUN
dad-13359	93	3	of	of	ADP
dad-13359	93	4	situated	situated	ADJ
dad-13359	93	5	dialogue	dialogue	NOUN
dad-13359	93	6	constructs	construct	VERB
dad-13359	93	7	graph	graph	NOUN
dad-13359	93	8	representations	representation	NOUN
dad-13359	93	9	of	of	ADP
dad-13359	93	10	both	both	DET
dad-13359	93	11	user	user	NOUN
dad-13359	93	12	commands	command	NOUN
dad-13359	93	13	and	and	CCONJ
dad-13359	93	14	agent	agent	NOUN
dad-13359	93	15	responses	response	NOUN
dad-13359	93	16	.	.	PUNCT
dad-13359	94	1	these	these	DET
dad-13359	94	2	graphs	graph	NOUN
dad-13359	94	3	represent	represent	VERB
dad-13359	94	4	a	a	DET
dad-13359	94	5	semantic	semantic	ADJ
dad-13359	94	6	model	model	NOUN
dad-13359	94	7	of	of	ADP
dad-13359	94	8	both	both	DET
dad-13359	94	9	objects	object	NOUN
dad-13359	94	10	in	in	ADP
dad-13359	94	11	the	the	DET
dad-13359	94	12	environment	environment	NOUN
dad-13359	94	13	and	and	CCONJ
dad-13359	94	14	actions	action	NOUN
dad-13359	94	15	for	for	SCONJ
dad-13359	94	16	the	the	DET
dad-13359	94	17	system	system	NOUN
dad-13359	94	18	to	to	PART
dad-13359	94	19	take	take	VERB
dad-13359	94	20	.	.	PUNCT
dad-13359	95	1	graphs	graph	NOUN
dad-13359	95	2	have	have	AUX
dad-13359	95	3	also	also	ADV
dad-13359	95	4	been	be	AUX
dad-13359	95	5	used	use	VERB
dad-13359	95	6	to	to	PART
dad-13359	95	7	represent	represent	VERB
dad-13359	95	8	dialogue	dialogue	NOUN
dad-13359	95	9	structure	structure	NOUN
dad-13359	95	10	as	as	ADP
dad-13359	95	11	a	a	DET
dad-13359	95	12	whole	whole	NOUN
dad-13359	95	13	and	and	CCONJ
dad-13359	95	14	flows	flow	VERB
dad-13359	95	15	between	between	ADP
dad-13359	95	16	utterances	utterance	NOUN
dad-13359	95	17	(	(	PUNCT
dad-13359	95	18	andreas	andreas	PROPN
dad-13359	95	19	et	et	PROPN
dad-13359	95	20	al	al	PROPN
dad-13359	95	21	.	.	PROPN
dad-13359	95	22	,	,	PUNCT
dad-13359	95	23	2020	2020	NUM
dad-13359	95	24	;	;	PUNCT
dad-13359	95	25	gritta	gritta	NOUN
dad-13359	95	26	et	et	PROPN
dad-13359	95	27	al	al	PROPN
dad-13359	95	28	.	.	PROPN
dad-13359	95	29	,	,	PUNCT
dad-13359	95	30	2021	2021	NUM
dad-13359	95	31	)	)	PUNCT
dad-13359	95	32	.	.	PUNCT
dad-13359	96	1	also	also	ADV
dad-13359	96	2	specifically	specifically	ADV
dad-13359	96	3	in	in	ADP
dad-13359	96	4	hri	hri	PROPN
dad-13359	96	5	,	,	PUNCT
dad-13359	96	6	wilcock	wilcock	NOUN
dad-13359	96	7	and	and	CCONJ
dad-13359	96	8	jokinen	jokinen	PROPN
dad-13359	96	9	(	(	PUNCT
dad-13359	96	10	2022	2022	NUM
dad-13359	96	11	)	)	PUNCT
dad-13359	96	12	presented	present	VERB
dad-13359	96	13	a	a	DET
dad-13359	96	14	model	model	NOUN
dad-13359	96	15	for	for	ADP
dad-13359	96	16	robotic	robotic	ADJ
dad-13359	96	17	conversational	conversational	ADJ
dad-13359	96	18	agents	agent	NOUN
dad-13359	96	19	that	that	PRON
dad-13359	96	20	used	use	VERB
dad-13359	96	21	knowledge	knowledge	NOUN
dad-13359	96	22	graphs	graph	NOUN
dad-13359	96	23	to	to	PART
dad-13359	96	24	present	present	VERB
dad-13359	96	25	semantic	semantic	ADJ
dad-13359	96	26	metadata	metadata	NOUN
dad-13359	96	27	to	to	ADP
dad-13359	96	28	the	the	DET
dad-13359	96	29	system	system	NOUN
dad-13359	96	30	.	.	PUNCT
dad-13359	97	1	thus	thus	ADV
dad-13359	97	2	,	,	PUNCT
dad-13359	97	3	in	in	ADP
dad-13359	97	4	the	the	DET
dad-13359	97	5	context	context	NOUN
dad-13359	97	6	of	of	ADP
dad-13359	97	7	previous	previous	ADJ
dad-13359	97	8	work	work	NOUN
dad-13359	97	9	it	it	PRON
dad-13359	97	10	is	be	AUX
dad-13359	97	11	apparent	apparent	ADJ
dad-13359	97	12	that	that	SCONJ
dad-13359	97	13	combining	combine	VERB
dad-13359	97	14	abstract	abstract	ADJ
dad-13359	97	15	and	and	CCONJ
dad-13359	97	16	dialogue	dialogue	NOUN
dad-13359	97	17	-	-	PUNCT
dad-13359	97	18	specific	specific	ADJ
dad-13359	97	19	information	information	NOUN
dad-13359	97	20	with	with	ADP
dad-13359	97	21	situated	situated	ADJ
dad-13359	97	22	knowledge	knowledge	NOUN
dad-13359	97	23	provides	provide	VERB
dad-13359	97	24	a	a	DET
dad-13359	97	25	fruitful	fruitful	ADJ
dad-13359	97	26	avenue	avenue	NOUN
dad-13359	97	27	for	for	ADP
dad-13359	97	28	state	state	NOUN
dad-13359	97	29	representation	representation	NOUN
dad-13359	97	30	(	(	PUNCT
dad-13359	97	31	papangelis	papangeli	NOUN
dad-13359	97	32	and	and	CCONJ
dad-13359	97	33	ultes	ulte	NOUN
dad-13359	97	34	,	,	PUNCT
dad-13359	97	35	2020	2020	NUM
dad-13359	97	36	)	)	PUNCT
dad-13359	97	37	.	.	PUNCT
dad-13359	98	1	within	within	ADP
dad-13359	98	2	this	this	DET
dad-13359	98	3	line	line	NOUN
dad-13359	98	4	of	of	ADP
dad-13359	98	5	inquiry	inquiry	NOUN
dad-13359	98	6	,	,	PUNCT
dad-13359	98	7	our	our	PRON
dad-13359	98	8	work	work	NOUN
dad-13359	98	9	builds	build	VERB
dad-13359	98	10	upon	upon	SCONJ
dad-13359	98	11	a	a	DET
dad-13359	98	12	graph	graph	NOUN
dad-13359	98	13	-	-	PUNCT
dad-13359	98	14	structured	structure	VERB
dad-13359	98	15	dialogue	dialogue	NOUN
dad-13359	98	16	state	state	NOUN
dad-13359	98	17	model	model	NOUN
dad-13359	98	18	wherein	wherein	SCONJ
dad-13359	98	19	both	both	PRON
dad-13359	98	20	dialogue	dialogue	NOUN
dad-13359	98	21	elements	element	NOUN
dad-13359	98	22	and	and	CCONJ
dad-13359	98	23	physical	physical	ADJ
dad-13359	98	24	objects	object	NOUN
dad-13359	98	25	in	in	ADP
dad-13359	98	26	the	the	DET
dad-13359	98	27	world	world	NOUN
dad-13359	98	28	are	be	AUX
dad-13359	98	29	equally	equally	ADV
dad-13359	98	30	represented	represent	VERB
dad-13359	98	31	as	as	ADP
dad-13359	98	32	nodes	node	NOUN
dad-13359	98	33	of	of	ADP
dad-13359	98	34	a	a	DET
dad-13359	98	35	graph	graph	NOUN
dad-13359	98	36	with	with	ADP
dad-13359	98	37	edges	edge	NOUN
dad-13359	98	38	in	in	ADP
dad-13359	98	39	the	the	DET
dad-13359	98	40	graph	graph	NOUN
dad-13359	98	41	representing	represent	VERB
dad-13359	98	42	semantic	semantic	ADJ
dad-13359	98	43	relations	relation	NOUN
dad-13359	98	44	between	between	ADP
dad-13359	98	45	them	they	PRON
dad-13359	98	46	(	(	PUNCT
dad-13359	98	47	walker	walker	PROPN
dad-13359	98	48	et	et	PROPN
dad-13359	98	49	al	al	PROPN
dad-13359	98	50	.	.	PROPN
dad-13359	98	51	,	,	PUNCT
dad-13359	98	52	2022	2022	NUM
dad-13359	98	53	)	)	PUNCT
dad-13359	98	54	.	.	PUNCT
dad-13359	99	1	aside	aside	ADV
dad-13359	99	2	from	from	ADP
dad-13359	99	3	the	the	DET
dad-13359	99	4	general	general	ADJ
dad-13359	99	5	usage	usage	NOUN
dad-13359	99	6	of	of	ADP
dad-13359	99	7	graphs	graph	NOUN
dad-13359	99	8	representing	represent	VERB
dad-13359	99	9	linguistic	linguistic	ADJ
dad-13359	99	10	structure	structure	NOUN
dad-13359	99	11	or	or	CCONJ
dad-13359	99	12	purely	purely	ADV
dad-13359	99	13	physical	physical	ADJ
dad-13359	99	14	information	information	NOUN
dad-13359	99	15	,	,	PUNCT
dad-13359	99	16	an	an	DET
dad-13359	99	17	additional	additional	ADJ
dad-13359	99	18	kind	kind	NOUN
dad-13359	99	19	of	of	ADP
dad-13359	99	20	dialogue	dialogue	NOUN
dad-13359	99	21	information	information	NOUN
dad-13359	99	22	that	that	PRON
dad-13359	99	23	can	can	AUX
dad-13359	99	24	be	be	AUX
dad-13359	99	25	expressed	express	VERB
dad-13359	99	26	in	in	ADP
dad-13359	99	27	a	a	DET
dad-13359	99	28	graph	graph	NOUN
dad-13359	99	29	is	be	AUX
dad-13359	99	30	temporal	temporal	ADJ
dad-13359	99	31	relations	relation	NOUN
dad-13359	99	32	between	between	ADP
dad-13359	99	33	objects	object	NOUN
dad-13359	99	34	.	.	PUNCT
dad-13359	100	1	for	for	ADP
dad-13359	100	2	instance	instance	NOUN
dad-13359	100	3	,	,	PUNCT
dad-13359	100	4	xing	xing	PROPN
dad-13359	100	5	and	and	CCONJ
dad-13359	100	6	tsang	tsang	PROPN
dad-13359	100	7	(	(	PUNCT
dad-13359	100	8	2023	2023	NUM
dad-13359	100	9	)	)	PUNCT
dad-13359	100	10	introduced	introduce	VERB
dad-13359	100	11	the	the	DET
dad-13359	100	12	darer	darer	PROPN
dad-13359	100	13	model	model	PROPN
dad-13359	100	14	,	,	PUNCT
dad-13359	100	15	which	which	PRON
dad-13359	100	16	used	use	VERB
dad-13359	100	17	two	two	NUM
dad-13359	100	18	types	type	NOUN
dad-13359	100	19	of	of	ADP
dad-13359	100	20	temporal	temporal	ADJ
dad-13359	100	21	graphs	graph	NOUN
dad-13359	100	22	representing	represent	VERB
dad-13359	100	23	semantic	semantic	ADJ
dad-13359	100	24	relations	relation	NOUN
dad-13359	100	25	for	for	ADP
dad-13359	100	26	dialogue	dialogue	NOUN
dad-13359	100	27	act	act	NOUN
dad-13359	100	28	and	and	CCONJ
dad-13359	100	29	sentiment	sentiment	NOUN
dad-13359	100	30	prediction	prediction	NOUN
dad-13359	100	31	.	.	PUNCT
dad-13359	101	1	in	in	ADP
dad-13359	101	2	their	their	PRON
dad-13359	101	3	model	model	NOUN
dad-13359	101	4	,	,	PUNCT
dad-13359	101	5	user	user	NOUN
dad-13359	101	6	utterances	utterance	NOUN
dad-13359	101	7	are	be	AUX
dad-13359	101	8	represented	represent	VERB
dad-13359	101	9	as	as	ADP
dad-13359	101	10	nodes	node	NOUN
dad-13359	101	11	of	of	ADP
dad-13359	101	12	a	a	DET
dad-13359	101	13	graph	graph	NOUN
dad-13359	101	14	with	with	ADP
dad-13359	101	15	“	"	PUNCT
dad-13359	101	16	previous	previous	ADJ
dad-13359	101	17	”	"	PUNCT
dad-13359	101	18	and	and	CCONJ
dad-13359	101	19	“	"	PUNCT
dad-13359	101	20	future	future	ADJ
dad-13359	101	21	”	"	PUNCT
dad-13359	101	22	relations	relation	NOUN
dad-13359	101	23	between	between	ADP
dad-13359	101	24	them	they	PRON
dad-13359	101	25	.	.	PUNCT
dad-13359	102	1	as	as	SCONJ
dad-13359	102	2	demonstrated	demonstrate	VERB
dad-13359	102	3	in	in	ADP
dad-13359	102	4	a	a	DET
dad-13359	102	5	number	number	NOUN
dad-13359	102	6	of	of	ADP
dad-13359	102	7	models	model	NOUN
dad-13359	102	8	(	(	PUNCT
dad-13359	102	9	tuan	tuan	PROPN
dad-13359	102	10	et	et	PROPN
dad-13359	102	11	al	al	PROPN
dad-13359	102	12	.	.	PROPN
dad-13359	102	13	,	,	PUNCT
dad-13359	102	14	2019	2019	NUM
dad-13359	102	15	;	;	PUNCT
dad-13359	102	16	he	he	PRON
dad-13359	102	17	et	et	PROPN
dad-13359	102	18	al	al	PROPN
dad-13359	102	19	.	.	PROPN
dad-13359	102	20	,	,	PUNCT
dad-13359	102	21	2023	2023	NUM
dad-13359	102	22	)	)	PUNCT
dad-13359	102	23	,	,	PUNCT
dad-13359	102	24	the	the	DET
dad-13359	102	25	dialogue	dialogue	NOUN
dad-13359	102	26	agent	agent	NOUN
dad-13359	102	27	’s	’s	PART
dad-13359	102	28	knowledge	knowledge	NOUN
dad-13359	102	29	state	state	NOUN
dad-13359	102	30	can	can	AUX
dad-13359	102	31	be	be	AUX
dad-13359	102	32	captured	capture	VERB
dad-13359	102	33	as	as	ADP
dad-13359	102	34	a	a	DET
dad-13359	102	35	dynamic	dynamic	ADJ
dad-13359	102	36	knowledge	knowledge	NOUN
dad-13359	102	37	graph	graph	NOUN
dad-13359	102	38	that	that	PRON
dad-13359	102	39	is	be	AUX
dad-13359	102	40	updated	update	VERB
dad-13359	102	41	throughout	throughout	ADP
dad-13359	102	42	the	the	DET
dad-13359	102	43	dialogue	dialogue	NOUN
dad-13359	102	44	.	.	PUNCT
dad-13359	103	1	dynamic	dynamic	ADJ
dad-13359	103	2	,	,	PUNCT
dad-13359	103	3	evolving	evolve	VERB
dad-13359	103	4	graphs	graph	NOUN
dad-13359	103	5	capture	capture	VERB
dad-13359	103	6	the	the	DET
dad-13359	103	7	intuition	intuition	NOUN
dad-13359	103	8	that	that	SCONJ
dad-13359	103	9	the	the	DET
dad-13359	103	10	dialogue	dialogue	NOUN
dad-13359	103	11	agent	agent	NOUN
dad-13359	103	12	’s	’s	PART
dad-13359	103	13	knowledge	knowledge	NOUN
dad-13359	103	14	should	should	AUX
dad-13359	103	15	evolve	evolve	VERB
dad-13359	103	16	along	along	ADP
dad-13359	103	17	with	with	ADP
dad-13359	103	18	the	the	DET
dad-13359	103	19	dialogue	dialogue	NOUN
dad-13359	103	20	,	,	PUNCT
dad-13359	103	21	encompassing	encompass	VERB
dad-13359	103	22	perception	perception	NOUN
dad-13359	103	23	of	of	ADP
dad-13359	103	24	natural	natural	ADJ
dad-13359	103	25	language	language	NOUN
dad-13359	103	26	utterances	utterance	NOUN
dad-13359	103	27	or	or	CCONJ
dad-13359	103	28	physical	physical	ADJ
dad-13359	103	29	observations	observation	NOUN
dad-13359	103	30	as	as	ADP
dad-13359	103	31	updates	update	NOUN
dad-13359	103	32	to	to	ADP
dad-13359	103	33	the	the	DET
dad-13359	103	34	graph	graph	NOUN
dad-13359	103	35	.	.	PUNCT
dad-13359	104	1	a	a	DET
dad-13359	104	2	further	further	ADJ
dad-13359	104	3	advantageous	advantageous	ADJ
dad-13359	104	4	property	property	NOUN
dad-13359	104	5	of	of	ADP
dad-13359	104	6	graphs	graph	NOUN
dad-13359	104	7	is	be	AUX
dad-13359	104	8	the	the	DET
dad-13359	104	9	capability	capability	NOUN
dad-13359	104	10	of	of	ADP
dad-13359	104	11	associating	associate	VERB
dad-13359	104	12	probabilities	probability	NOUN
dad-13359	104	13	with	with	ADP
dad-13359	104	14	the	the	DET
dad-13359	104	15	constituent	constituent	NOUN
dad-13359	104	16	nodes	node	NOUN
dad-13359	104	17	or	or	CCONJ
dad-13359	104	18	edges	edge	NOUN
dad-13359	104	19	of	of	ADP
dad-13359	104	20	a	a	DET
dad-13359	104	21	graph	graph	NOUN
dad-13359	104	22	.	.	PUNCT
dad-13359	105	1	a	a	DET
dad-13359	105	2	common	common	ADJ
dad-13359	105	3	use	use	NOUN
dad-13359	105	4	of	of	ADP
dad-13359	105	5	probability	probability	NOUN
dad-13359	105	6	with	with	ADP
dad-13359	105	7	graph	graph	NOUN
dad-13359	105	8	structures	structure	NOUN
dad-13359	105	9	in	in	ADP
dad-13359	105	10	dialogue	dialogue	NOUN
dad-13359	105	11	systems	system	NOUN
dad-13359	105	12	has	have	AUX
dad-13359	105	13	been	be	AUX
dad-13359	105	14	in	in	ADP
dad-13359	105	15	handling	handle	VERB
dad-13359	105	16	uncertainty	uncertainty	NOUN
dad-13359	105	17	in	in	ADP
dad-13359	105	18	action	action	NOUN
dad-13359	105	19	selection	selection	NOUN
dad-13359	105	20	(	(	PUNCT
dad-13359	105	21	young	young	ADJ
dad-13359	105	22	et	et	PROPN
dad-13359	105	23	al	al	PROPN
dad-13359	105	24	.	.	PROPN
dad-13359	105	25	,	,	PUNCT
dad-13359	105	26	2013	2013	NUM
dad-13359	105	27	)	)	PUNCT
dad-13359	105	28	.	.	PUNCT
dad-13359	106	1	bayesian	bayesian	NOUN
dad-13359	106	2	networks	network	NOUN
dad-13359	106	3	are	be	AUX
dad-13359	106	4	an	an	DET
dad-13359	106	5	additional	additional	ADJ
dad-13359	106	6	example	example	NOUN
dad-13359	106	7	of	of	ADP
dad-13359	106	8	a	a	DET
dad-13359	106	9	probabilistic	probabilistic	ADJ
dad-13359	106	10	model	model	NOUN
dad-13359	106	11	which	which	PRON
dad-13359	106	12	has	have	AUX
dad-13359	106	13	been	be	AUX
dad-13359	106	14	used	use	VERB
dad-13359	106	15	for	for	ADP
dad-13359	106	16	dialogue	dialogue	NOUN
dad-13359	106	17	management	management	NOUN
dad-13359	106	18	,	,	PUNCT
dad-13359	106	19	including	include	VERB
dad-13359	106	20	with	with	ADP
dad-13359	106	21	multimodal	multimodal	ADJ
dad-13359	106	22	data	datum	NOUN
dad-13359	106	23	(	(	PUNCT
dad-13359	106	24	prodanov	prodanov	NOUN
dad-13359	106	25	and	and	CCONJ
dad-13359	106	26	drygajlo	drygajlo	NOUN
dad-13359	106	27	,	,	PUNCT
dad-13359	106	28	2003	2003	NUM
dad-13359	106	29	;	;	PUNCT
dad-13359	106	30	thomson	thomson	PROPN
dad-13359	106	31	et	et	PROPN
dad-13359	106	32	al	al	PROPN
dad-13359	106	33	.	.	PROPN
dad-13359	106	34	,	,	PUNCT
dad-13359	106	35	2008	2008	NUM
dad-13359	106	36	)	)	PUNCT
dad-13359	106	37	.	.	PUNCT
dad-13359	107	1	more	more	ADV
dad-13359	107	2	generally	generally	ADV
dad-13359	107	3	,	,	PUNCT
dad-13359	107	4	the	the	DET
dad-13359	107	5	problem	problem	NOUN
dad-13359	107	6	of	of	ADP
dad-13359	107	7	epistemic	epistemic	ADJ
dad-13359	107	8	uncertainty	uncertainty	NOUN
dad-13359	107	9	(	(	PUNCT
dad-13359	107	10	celemin	celemin	NOUN
dad-13359	107	11	and	and	CCONJ
dad-13359	107	12	kober	kober	PROPN
dad-13359	107	13	,	,	PUNCT
dad-13359	107	14	2023	2023	NUM
dad-13359	107	15	)	)	PUNCT
dad-13359	107	16	about	about	ADP
dad-13359	107	17	the	the	DET
dad-13359	107	18	dialogue	dialogue	NOUN
dad-13359	107	19	state	state	NOUN
dad-13359	107	20	may	may	AUX
dad-13359	107	21	also	also	ADV
dad-13359	107	22	be	be	AUX
dad-13359	107	23	usefully	usefully	ADV
dad-13359	107	24	described	describe	VERB
dad-13359	107	25	by	by	ADP
dad-13359	107	26	probabilities	probability	NOUN
dad-13359	107	27	associated	associate	VERB
dad-13359	107	28	with	with	ADP
dad-13359	107	29	graph	graph	NOUN
dad-13359	107	30	elements	element	NOUN
dad-13359	107	31	.	.	PUNCT
dad-13359	108	1	2.2.2	2.2.2	NUM
dad-13359	108	2	graph	graph	NOUN
dad-13359	108	3	processing	processing	NOUN
dad-13359	108	4	although	although	SCONJ
dad-13359	108	5	the	the	DET
dad-13359	108	6	flexibility	flexibility	NOUN
dad-13359	108	7	of	of	ADP
dad-13359	108	8	graphs	graph	NOUN
dad-13359	108	9	allows	allow	VERB
dad-13359	108	10	for	for	ADP
dad-13359	108	11	a	a	DET
dad-13359	108	12	wide	wide	ADJ
dad-13359	108	13	diversity	diversity	NOUN
dad-13359	108	14	of	of	ADP
dad-13359	108	15	state	state	NOUN
dad-13359	108	16	representations	representation	NOUN
dad-13359	108	17	,	,	PUNCT
dad-13359	108	18	it	it	PRON
dad-13359	108	19	also	also	ADV
dad-13359	108	20	requires	require	VERB
dad-13359	108	21	adaptation	adaptation	NOUN
dad-13359	108	22	of	of	ADP
dad-13359	108	23	response	response	NOUN
dad-13359	108	24	generation	generation	NOUN
dad-13359	108	25	models	model	NOUN
dad-13359	108	26	to	to	PART
dad-13359	108	27	operate	operate	VERB
dad-13359	108	28	on	on	ADP
dad-13359	108	29	a	a	DET
dad-13359	108	30	graph	graph	NOUN
dad-13359	108	31	structure	structure	NOUN
dad-13359	108	32	.	.	PUNCT
dad-13359	109	1	one	one	NUM
dad-13359	109	2	means	mean	VERB
dad-13359	109	3	of	of	ADP
dad-13359	109	4	doing	do	VERB
dad-13359	109	5	so	so	ADV
dad-13359	109	6	64	64	NUM
dad-13359	109	7	a	a	DET
dad-13359	109	8	graph	graph	NOUN
dad-13359	109	9	-	-	PUNCT
dad-13359	109	10	to	to	ADP
dad-13359	109	11	-	-	PUNCT
dad-13359	109	12	text	text	NOUN
dad-13359	109	13	approach	approach	NOUN
dad-13359	109	14	to	to	ADP
dad-13359	109	15	knowledge	knowledge	NOUN
dad-13359	109	16	-	-	PUNCT
dad-13359	109	17	grounded	ground	VERB
dad-13359	109	18	response	response	NOUN
dad-13359	109	19	generation	generation	NOUN
dad-13359	109	20	in	in	ADP
dad-13359	109	21	hri	hri	PROPN
dad-13359	109	22	is	be	AUX
dad-13359	109	23	the	the	DET
dad-13359	109	24	use	use	NOUN
dad-13359	109	25	of	of	ADP
dad-13359	109	26	graph	graph	NOUN
dad-13359	109	27	neural	neural	ADJ
dad-13359	109	28	networks	network	NOUN
dad-13359	109	29	(	(	PUNCT
dad-13359	109	30	gnns	gnns	NOUN
dad-13359	109	31	)	)	PUNCT
dad-13359	109	32	.	.	PUNCT
dad-13359	110	1	an	an	DET
dad-13359	110	2	example	example	NOUN
dad-13359	110	3	of	of	ADP
dad-13359	110	4	a	a	DET
dad-13359	110	5	gnn	gnn	NOUN
dad-13359	110	6	model	model	NOUN
dad-13359	110	7	used	use	VERB
dad-13359	110	8	to	to	PART
dad-13359	110	9	process	process	VERB
dad-13359	110	10	a	a	DET
dad-13359	110	11	large	large	ADJ
dad-13359	110	12	knowledge	knowledge	NOUN
dad-13359	110	13	base	base	NOUN
dad-13359	110	14	was	be	AUX
dad-13359	110	15	presented	present	VERB
dad-13359	110	16	by	by	ADP
dad-13359	110	17	christmann	christmann	PROPN
dad-13359	110	18	et	et	PROPN
dad-13359	110	19	al	al	PROPN
dad-13359	110	20	.	.	PROPN
dad-13359	111	1	(	(	PUNCT
dad-13359	111	2	2023	2023	NUM
dad-13359	111	3	)	)	PUNCT
dad-13359	111	4	.	.	PUNCT
dad-13359	112	1	their	their	PRON
dad-13359	112	2	model	model	NOUN
dad-13359	112	3	for	for	ADP
dad-13359	112	4	conversational	conversational	ADJ
dad-13359	112	5	question	question	NOUN
dad-13359	112	6	answering	answering	NOUN
dad-13359	112	7	used	use	VERB
dad-13359	112	8	a	a	DET
dad-13359	112	9	gnn	gnn	NOUN
dad-13359	112	10	to	to	PART
dad-13359	112	11	construct	construct	VERB
dad-13359	112	12	a	a	DET
dad-13359	112	13	reduced	reduce	VERB
dad-13359	112	14	representation	representation	NOUN
dad-13359	112	15	of	of	ADP
dad-13359	112	16	a	a	DET
dad-13359	112	17	large	large	ADJ
dad-13359	112	18	heterogeneous	heterogeneous	ADJ
dad-13359	112	19	graph	graph	NOUN
dad-13359	112	20	of	of	ADP
dad-13359	112	21	entities	entity	NOUN
dad-13359	112	22	.	.	PUNCT
dad-13359	113	1	this	this	DET
dad-13359	113	2	model	model	NOUN
dad-13359	113	3	had	have	VERB
dad-13359	113	4	the	the	DET
dad-13359	113	5	particular	particular	ADJ
dad-13359	113	6	advantage	advantage	NOUN
dad-13359	113	7	of	of	ADP
dad-13359	113	8	enabling	enable	VERB
dad-13359	113	9	explainability	explainability	NOUN
dad-13359	113	10	in	in	ADP
dad-13359	113	11	the	the	DET
dad-13359	113	12	model	model	NOUN
dad-13359	113	13	along	along	ADP
dad-13359	113	14	with	with	ADP
dad-13359	113	15	using	use	VERB
dad-13359	113	16	numerous	numerous	ADJ
dad-13359	113	17	combined	combined	ADJ
dad-13359	113	18	sources	source	NOUN
dad-13359	113	19	of	of	ADP
dad-13359	113	20	information	information	NOUN
dad-13359	113	21	.	.	PUNCT
dad-13359	114	1	particularly	particularly	ADV
dad-13359	114	2	large	large	ADJ
dad-13359	114	3	knowledge	knowledge	NOUN
dad-13359	114	4	graphs	graph	NOUN
dad-13359	114	5	may	may	AUX
dad-13359	114	6	require	require	VERB
dad-13359	114	7	a	a	DET
dad-13359	114	8	filtering	filtering	NOUN
dad-13359	114	9	method	method	NOUN
dad-13359	114	10	or	or	CCONJ
dad-13359	114	11	preprocessing	preprocesse	VERB
dad-13359	114	12	to	to	PART
dad-13359	114	13	extract	extract	VERB
dad-13359	114	14	the	the	DET
dad-13359	114	15	most	most	ADV
dad-13359	114	16	salient	salient	ADJ
dad-13359	114	17	information	information	NOUN
dad-13359	114	18	(	(	PUNCT
dad-13359	114	19	wang	wang	PROPN
dad-13359	114	20	et	et	PROPN
dad-13359	114	21	al	al	PROPN
dad-13359	114	22	.	.	PROPN
dad-13359	114	23	,	,	PUNCT
dad-13359	114	24	2021	2021	NUM
dad-13359	114	25	)	)	PUNCT
dad-13359	114	26	.	.	PUNCT
dad-13359	115	1	gnns	gnns	PROPN
dad-13359	115	2	have	have	AUX
dad-13359	115	3	also	also	ADV
dad-13359	115	4	been	be	AUX
dad-13359	115	5	used	use	VERB
dad-13359	115	6	among	among	ADP
dad-13359	115	7	other	other	ADJ
dad-13359	115	8	things	thing	NOUN
dad-13359	115	9	to	to	PART
dad-13359	115	10	verbalize	verbalize	VERB
dad-13359	115	11	graphs	graph	NOUN
dad-13359	115	12	,	,	PUNCT
dad-13359	115	13	such	such	ADJ
dad-13359	115	14	as	as	ADP
dad-13359	115	15	the	the	DET
dad-13359	115	16	method	method	NOUN
dad-13359	115	17	presented	present	VERB
dad-13359	115	18	by	by	ADP
dad-13359	115	19	yang	yang	PROPN
dad-13359	115	20	et	et	PROPN
dad-13359	115	21	al	al	PROPN
dad-13359	115	22	.	.	PROPN
dad-13359	116	1	(	(	PUNCT
dad-13359	116	2	2020	2020	NUM
dad-13359	116	3	)	)	PUNCT
dad-13359	116	4	,	,	PUNCT
dad-13359	116	5	wherein	wherein	SCONJ
dad-13359	116	6	a	a	DET
dad-13359	116	7	graph	graph	NOUN
dad-13359	116	8	attention	attention	NOUN
dad-13359	116	9	network	network	NOUN
dad-13359	116	10	is	be	AUX
dad-13359	116	11	used	use	VERB
dad-13359	116	12	with	with	ADP
dad-13359	116	13	a	a	DET
dad-13359	116	14	verbalization	verbalization	NOUN
dad-13359	116	15	of	of	ADP
dad-13359	116	16	a	a	DET
dad-13359	116	17	program	program	NOUN
dad-13359	116	18	to	to	PART
dad-13359	116	19	verify	verify	VERB
dad-13359	116	20	facts	fact	NOUN
dad-13359	116	21	.	.	PUNCT
dad-13359	117	1	while	while	SCONJ
dad-13359	117	2	gnns	gnn	NOUN
dad-13359	117	3	have	have	AUX
dad-13359	117	4	become	become	VERB
dad-13359	117	5	an	an	DET
dad-13359	117	6	area	area	NOUN
dad-13359	117	7	of	of	ADP
dad-13359	117	8	interest	interest	NOUN
dad-13359	117	9	for	for	ADP
dad-13359	117	10	using	use	VERB
dad-13359	117	11	graph	graph	NOUN
dad-13359	117	12	data	datum	NOUN
dad-13359	117	13	in	in	ADP
dad-13359	117	14	many	many	ADJ
dad-13359	117	15	domains	domain	NOUN
dad-13359	117	16	,	,	PUNCT
dad-13359	117	17	these	these	DET
dad-13359	117	18	models	model	NOUN
dad-13359	117	19	often	often	ADV
dad-13359	117	20	require	require	VERB
dad-13359	117	21	large	large	ADJ
dad-13359	117	22	quantities	quantity	NOUN
dad-13359	117	23	of	of	ADP
dad-13359	117	24	in	in	ADP
dad-13359	117	25	-	-	PUNCT
dad-13359	117	26	domain	domain	NOUN
dad-13359	117	27	training	training	NOUN
dad-13359	117	28	data	datum	NOUN
dad-13359	117	29	and	and	CCONJ
dad-13359	117	30	may	may	AUX
dad-13359	117	31	require	require	VERB
dad-13359	117	32	certain	certain	ADJ
dad-13359	117	33	properties	property	NOUN
dad-13359	117	34	in	in	ADP
dad-13359	117	35	the	the	DET
dad-13359	117	36	graph	graph	NOUN
dad-13359	117	37	structure	structure	NOUN
dad-13359	117	38	(	(	PUNCT
dad-13359	117	39	e.g.	e.g.	ADV
dad-13359	117	40	homogeneity	homogeneity	NOUN
dad-13359	117	41	,	,	PUNCT
dad-13359	117	42	connectivity	connectivity	NOUN
dad-13359	117	43	)	)	PUNCT
dad-13359	117	44	.	.	PUNCT
dad-13359	118	1	for	for	ADP
dad-13359	118	2	instance	instance	NOUN
dad-13359	118	3	,	,	PUNCT
dad-13359	118	4	models	model	NOUN
dad-13359	118	5	such	such	ADJ
dad-13359	118	6	as	as	ADP
dad-13359	118	7	the	the	DET
dad-13359	118	8	influential	influential	ADJ
dad-13359	118	9	graphsage	graphsage	NOUN
dad-13359	118	10	of	of	ADP
dad-13359	118	11	hamilton	hamilton	PROPN
dad-13359	118	12	et	et	PROPN
dad-13359	118	13	al	al	PROPN
dad-13359	118	14	.	.	PROPN
dad-13359	119	1	(	(	PUNCT
dad-13359	119	2	2017	2017	NUM
dad-13359	119	3	)	)	PUNCT
dad-13359	119	4	have	have	VERB
dad-13359	119	5	limitations	limitation	NOUN
dad-13359	119	6	in	in	ADP
dad-13359	119	7	their	their	PRON
dad-13359	119	8	ability	ability	NOUN
dad-13359	119	9	to	to	PART
dad-13359	119	10	distinguish	distinguish	VERB
dad-13359	119	11	certain	certain	ADJ
dad-13359	119	12	non	non	ADJ
dad-13359	119	13	-	-	ADJ
dad-13359	119	14	isomorphic	isomorphic	ADJ
dad-13359	119	15	graphs	graph	NOUN
dad-13359	119	16	(	(	PUNCT
dad-13359	119	17	garg	garg	NOUN
dad-13359	119	18	et	et	PROPN
dad-13359	119	19	al	al	PROPN
dad-13359	119	20	.	.	PROPN
dad-13359	119	21	,	,	PUNCT
dad-13359	119	22	2020	2020	NUM
dad-13359	119	23	)	)	PUNCT
dad-13359	119	24	.	.	PUNCT
dad-13359	120	1	moreover	moreover	ADV
dad-13359	120	2	,	,	PUNCT
dad-13359	120	3	gnns	gnn	NOUN
dad-13359	120	4	also	also	ADV
dad-13359	120	5	face	face	VERB
dad-13359	120	6	difficulties	difficulty	NOUN
dad-13359	120	7	when	when	SCONJ
dad-13359	120	8	aggregating	aggregate	VERB
dad-13359	120	9	information	information	NOUN
dad-13359	120	10	across	across	ADP
dad-13359	120	11	long	long	ADJ
dad-13359	120	12	paths	path	NOUN
dad-13359	120	13	in	in	ADP
dad-13359	120	14	graphs	graph	NOUN
dad-13359	120	15	,	,	PUNCT
dad-13359	120	16	an	an	DET
dad-13359	120	17	“	"	PUNCT
dad-13359	120	18	over	over	ADP
dad-13359	120	19	-	-	PUNCT
dad-13359	120	20	squashing	squashing	NOUN
dad-13359	120	21	”	"	PUNCT
dad-13359	120	22	of	of	ADP
dad-13359	120	23	graph	graph	NOUN
dad-13359	120	24	information	information	NOUN
dad-13359	120	25	explored	explore	VERB
dad-13359	120	26	by	by	ADP
dad-13359	120	27	alon	alon	PROPN
dad-13359	120	28	and	and	CCONJ
dad-13359	120	29	yahav	yahav	PROPN
dad-13359	120	30	(	(	PUNCT
dad-13359	120	31	2020	2020	NUM
dad-13359	120	32	)	)	PUNCT
dad-13359	120	33	.	.	PUNCT
dad-13359	121	1	graph	graph	NOUN
dad-13359	121	2	verbalization	verbalization	NOUN
dad-13359	121	3	is	be	AUX
dad-13359	121	4	not	not	PART
dad-13359	121	5	limited	limit	VERB
dad-13359	121	6	to	to	ADP
dad-13359	121	7	gnn	gnn	NOUN
dad-13359	121	8	-	-	PUNCT
dad-13359	121	9	based	base	VERB
dad-13359	121	10	models	model	NOUN
dad-13359	121	11	.	.	PUNCT
dad-13359	122	1	xu	xu	PROPN
dad-13359	122	2	et	et	PROPN
dad-13359	123	1	al	al	PROPN
dad-13359	123	2	.	.	PROPN
dad-13359	124	1	(	(	PUNCT
dad-13359	124	2	2018	2018	NUM
dad-13359	124	3	)	)	PUNCT
dad-13359	124	4	demonstrated	demonstrate	VERB
dad-13359	124	5	a	a	DET
dad-13359	124	6	method	method	NOUN
dad-13359	124	7	of	of	ADP
dad-13359	124	8	transforming	transform	VERB
dad-13359	124	9	structured	structured	ADJ
dad-13359	124	10	query	query	NOUN
dad-13359	124	11	language	language	NOUN
dad-13359	124	12	(	(	PUNCT
dad-13359	124	13	sql	sql	PROPN
dad-13359	124	14	)	)	PUNCT
dad-13359	124	15	,	,	PUNCT
dad-13359	124	16	itself	itself	PRON
dad-13359	124	17	viewable	viewable	VERB
dad-13359	124	18	as	as	ADP
dad-13359	124	19	a	a	DET
dad-13359	124	20	graph	graph	NOUN
dad-13359	124	21	-	-	PUNCT
dad-13359	124	22	structure	structure	NOUN
dad-13359	124	23	,	,	PUNCT
dad-13359	124	24	to	to	ADP
dad-13359	124	25	natural	natural	ADJ
dad-13359	124	26	language	language	NOUN
dad-13359	124	27	via	via	ADP
dad-13359	124	28	a	a	DET
dad-13359	124	29	graph	graph	NOUN
dad-13359	124	30	-	-	PUNCT
dad-13359	124	31	to	to	ADP
dad-13359	124	32	-	-	PUNCT
dad-13359	124	33	sequence	sequence	NOUN
dad-13359	124	34	model	model	NOUN
dad-13359	124	35	.	.	PUNCT
dad-13359	125	1	a	a	DET
dad-13359	125	2	common	common	ADJ
dad-13359	125	3	thread	thread	NOUN
dad-13359	125	4	among	among	ADP
dad-13359	125	5	approaches	approach	NOUN
dad-13359	125	6	to	to	ADP
dad-13359	125	7	verbalizing	verbalize	VERB
dad-13359	125	8	graphs	graph	NOUN
dad-13359	125	9	is	be	AUX
dad-13359	125	10	a	a	DET
dad-13359	125	11	correspondence	correspondence	NOUN
dad-13359	125	12	of	of	ADP
dad-13359	125	13	graph	graph	NOUN
dad-13359	125	14	structures	structure	NOUN
dad-13359	125	15	to	to	ADP
dad-13359	125	16	natural	natural	ADJ
dad-13359	125	17	language	language	NOUN
dad-13359	125	18	surface	surface	NOUN
dad-13359	125	19	forms	form	NOUN
dad-13359	125	20	.	.	PUNCT
dad-13359	126	1	a	a	DET
dad-13359	126	2	basic	basic	ADJ
dad-13359	126	3	example	example	NOUN
dad-13359	126	4	is	be	AUX
dad-13359	126	5	the	the	DET
dad-13359	126	6	conversion	conversion	NOUN
dad-13359	126	7	of	of	ADP
dad-13359	126	8	a	a	DET
dad-13359	126	9	semantic	semantic	ADJ
dad-13359	126	10	triple	triple	NOUN
dad-13359	126	11	(	(	PUNCT
dad-13359	126	12	subject	subject	ADJ
dad-13359	126	13	,	,	PUNCT
dad-13359	126	14	predicate	predicate	NOUN
dad-13359	126	15	,	,	PUNCT
dad-13359	126	16	and	and	CCONJ
dad-13359	126	17	object	object	VERB
dad-13359	126	18	)	)	PUNCT
dad-13359	126	19	of	of	ADP
dad-13359	126	20	two	two	NUM
dad-13359	126	21	nodes	node	NOUN
dad-13359	126	22	and	and	CCONJ
dad-13359	126	23	an	an	DET
dad-13359	126	24	edge	edge	NOUN
dad-13359	126	25	between	between	ADP
dad-13359	126	26	them	they	PRON
dad-13359	126	27	to	to	ADP
dad-13359	126	28	a	a	DET
dad-13359	126	29	sentence	sentence	NOUN
dad-13359	126	30	:	:	PUNCT
dad-13359	126	31	(	(	PUNCT
dad-13359	126	32	‘	'	PUNCT
dad-13359	126	33	robot	robot	NOUN
dad-13359	126	34	’	'	PUNCT
dad-13359	126	35	|	|	ADV
dad-13359	126	36	‘	'	PUNCT
dad-13359	126	37	in	in	ADP
dad-13359	126	38	’	'	PUNCT
dad-13359	126	39	|	|	ADV
dad-13359	126	40	‘	'	PUNCT
dad-13359	126	41	hallway	hallway	NOUN
dad-13359	126	42	’	'	PUNCT
dad-13359	126	43	)	)	PUNCT
dad-13359	127	1	→	→	PUNCT
dad-13359	127	2	the	the	DET
dad-13359	127	3	robot	robot	NOUN
dad-13359	127	4	is	be	AUX
dad-13359	127	5	located	locate	VERB
dad-13359	127	6	in	in	ADP
dad-13359	127	7	the	the	DET
dad-13359	127	8	hallway	hallway	NOUN
dad-13359	127	9	.	.	PUNCT
dad-13359	128	1	such	such	ADJ
dad-13359	128	2	conversion	conversion	NOUN
dad-13359	128	3	is	be	AUX
dad-13359	128	4	not	not	PART
dad-13359	128	5	limited	limit	VERB
dad-13359	128	6	to	to	ADP
dad-13359	128	7	small	small	ADJ
dad-13359	128	8	-	-	PUNCT
dad-13359	128	9	scale	scale	NOUN
dad-13359	128	10	elements	element	NOUN
dad-13359	128	11	of	of	ADP
dad-13359	128	12	the	the	DET
dad-13359	128	13	graph	graph	NOUN
dad-13359	128	14	.	.	PUNCT
dad-13359	129	1	the	the	DET
dad-13359	129	2	entire	entire	ADJ
dad-13359	129	3	graph	graph	NOUN
dad-13359	129	4	might	might	AUX
dad-13359	129	5	be	be	AUX
dad-13359	129	6	labelled	label	VERB
dad-13359	129	7	or	or	CCONJ
dad-13359	129	8	summarized	summarize	VERB
dad-13359	129	9	by	by	ADP
dad-13359	129	10	some	some	DET
dad-13359	129	11	natural	natural	ADJ
dad-13359	129	12	language	language	NOUN
dad-13359	129	13	description	description	NOUN
dad-13359	129	14	,	,	PUNCT
dad-13359	129	15	as	as	ADP
dad-13359	129	16	in	in	ADP
dad-13359	129	17	graph	graph	NOUN
dad-13359	129	18	classification	classification	NOUN
dad-13359	129	19	(	(	PUNCT
dad-13359	129	20	zhang	zhang	PROPN
dad-13359	129	21	et	et	PROPN
dad-13359	129	22	al	al	PROPN
dad-13359	129	23	.	.	PROPN
dad-13359	129	24	,	,	PUNCT
dad-13359	129	25	2022	2022	NUM
dad-13359	129	26	)	)	PUNCT
dad-13359	129	27	.	.	PUNCT
dad-13359	130	1	a	a	DET
dad-13359	130	2	knowledge	knowledge	NOUN
dad-13359	130	3	graph	graph	NOUN
dad-13359	130	4	completion	completion	NOUN
dad-13359	130	5	algorithm	algorithm	NOUN
dad-13359	130	6	relying	rely	VERB
dad-13359	130	7	on	on	ADP
dad-13359	130	8	a	a	DET
dad-13359	130	9	transformation	transformation	NOUN
dad-13359	130	10	of	of	ADP
dad-13359	130	11	paths	path	NOUN
dad-13359	130	12	in	in	ADP
dad-13359	130	13	the	the	DET
dad-13359	130	14	graph	graph	NOUN
dad-13359	130	15	was	be	AUX
dad-13359	130	16	presented	present	VERB
dad-13359	130	17	by	by	ADP
dad-13359	130	18	lin	lin	PROPN
dad-13359	130	19	et	et	PROPN
dad-13359	130	20	al	al	PROPN
dad-13359	130	21	.	.	PROPN
dad-13359	131	1	(	(	PUNCT
dad-13359	131	2	2023	2023	NUM
dad-13359	131	3	)	)	PUNCT
dad-13359	131	4	.	.	PUNCT
dad-13359	132	1	in	in	ADP
dad-13359	132	2	their	their	PRON
dad-13359	132	3	approach	approach	NOUN
dad-13359	132	4	,	,	PUNCT
dad-13359	132	5	knowledge	knowledge	NOUN
dad-13359	132	6	graph	graph	NOUN
dad-13359	132	7	paths	path	NOUN
dad-13359	132	8	are	be	AUX
dad-13359	132	9	translated	translate	VERB
dad-13359	132	10	to	to	ADP
dad-13359	132	11	text	text	NOUN
dad-13359	132	12	by	by	ADP
dad-13359	132	13	concatenating	concatenate	VERB
dad-13359	132	14	entities	entity	NOUN
dad-13359	132	15	and	and	CCONJ
dad-13359	132	16	relations	relation	NOUN
dad-13359	132	17	separated	separate	VERB
dad-13359	132	18	by	by	ADP
dad-13359	132	19	special	special	ADJ
dad-13359	132	20	tokens	token	NOUN
dad-13359	132	21	.	.	PUNCT
dad-13359	133	1	another	another	DET
dad-13359	133	2	approach	approach	NOUN
dad-13359	133	3	using	use	VERB
dad-13359	133	4	traversals	traversal	NOUN
dad-13359	133	5	knowledge	knowledge	NOUN
dad-13359	133	6	graph	graph	NOUN
dad-13359	133	7	traversals	traversal	NOUN
dad-13359	133	8	is	be	AUX
dad-13359	133	9	opendialkg	opendialkg	PROPN
dad-13359	133	10	(	(	PUNCT
dad-13359	133	11	moon	moon	NOUN
dad-13359	133	12	et	et	PROPN
dad-13359	133	13	al	al	PROPN
dad-13359	133	14	.	.	PROPN
dad-13359	133	15	,	,	PUNCT
dad-13359	133	16	2019	2019	NUM
dad-13359	133	17	)	)	PUNCT
dad-13359	133	18	,	,	PUNCT
dad-13359	133	19	which	which	PRON
dad-13359	133	20	relates	relate	VERB
dad-13359	133	21	shifts	shift	NOUN
dad-13359	133	22	in	in	ADP
dad-13359	133	23	dialogue	dialogue	NOUN
dad-13359	133	24	context	context	NOUN
dad-13359	133	25	to	to	PART
dad-13359	133	26	walks	walk	VERB
dad-13359	133	27	in	in	ADP
dad-13359	133	28	the	the	DET
dad-13359	133	29	graph	graph	NOUN
dad-13359	133	30	.	.	PUNCT
dad-13359	134	1	other	other	ADJ
dad-13359	134	2	work	work	NOUN
dad-13359	134	3	using	use	VERB
dad-13359	134	4	this	this	DET
dad-13359	134	5	dataset	dataset	NOUN
dad-13359	134	6	and	and	CCONJ
dad-13359	134	7	the	the	DET
dad-13359	134	8	dataset	dataset	NOUN
dad-13359	134	9	of	of	ADP
dad-13359	134	10	eric	eric	PROPN
dad-13359	134	11	et	et	PROPN
dad-13359	134	12	al	al	PROPN
dad-13359	134	13	.	.	PROPN
dad-13359	135	1	(	(	PUNCT
dad-13359	135	2	2021	2021	NUM
dad-13359	135	3	)	)	PUNCT
dad-13359	135	4	is	be	AUX
dad-13359	135	5	the	the	DET
dad-13359	135	6	diffkg	diffkg	PROPN
dad-13359	135	7	model	model	NOUN
dad-13359	135	8	of	of	ADP
dad-13359	135	9	tuan	tuan	PROPN
dad-13359	135	10	et	et	PROPN
dad-13359	135	11	al	al	PROPN
dad-13359	135	12	.	.	PROPN
dad-13359	136	1	(	(	PUNCT
dad-13359	136	2	2021	2021	NUM
dad-13359	136	3	)	)	PUNCT
dad-13359	136	4	.	.	PUNCT
dad-13359	137	1	the	the	DET
dad-13359	137	2	diffkg	diffkg	PROPN
dad-13359	137	3	model	model	NOUN
dad-13359	137	4	uses	use	VERB
dad-13359	137	5	a	a	DET
dad-13359	137	6	transformer	transformer	ADJ
dad-13359	137	7	architecture	architecture	NOUN
dad-13359	137	8	to	to	PART
dad-13359	137	9	perform	perform	VERB
dad-13359	137	10	walks	walk	NOUN
dad-13359	137	11	over	over	ADP
dad-13359	137	12	the	the	DET
dad-13359	137	13	knowledge	knowledge	NOUN
dad-13359	137	14	graph	graph	NOUN
dad-13359	137	15	to	to	PART
dad-13359	137	16	select	select	VERB
dad-13359	137	17	kg	kg	PROPN
dad-13359	137	18	knowledge	knowledge	NOUN
dad-13359	137	19	for	for	ADP
dad-13359	137	20	a	a	DET
dad-13359	137	21	dialogue	dialogue	NOUN
dad-13359	137	22	system	system	NOUN
dad-13359	137	23	.	.	PUNCT
dad-13359	138	1	this	this	DET
dad-13359	138	2	system	system	NOUN
dad-13359	138	3	was	be	AUX
dad-13359	138	4	evaluated	evaluate	VERB
dad-13359	138	5	with	with	ADP
dad-13359	138	6	respect	respect	NOUN
dad-13359	138	7	to	to	ADP
dad-13359	138	8	ground	ground	NOUN
dad-13359	138	9	truth	truth	NOUN
dad-13359	138	10	paths	path	NOUN
dad-13359	138	11	and	and	CCONJ
dad-13359	138	12	entities	entity	NOUN
dad-13359	138	13	in	in	ADP
dad-13359	138	14	fixed	fix	VERB
dad-13359	138	15	knowledge	knowledge	NOUN
dad-13359	138	16	bases	basis	NOUN
dad-13359	138	17	which	which	PRON
dad-13359	138	18	are	be	AUX
dad-13359	138	19	not	not	PART
dad-13359	138	20	available	available	ADJ
dad-13359	138	21	in	in	ADP
dad-13359	138	22	all	all	DET
dad-13359	138	23	dialogue	dialogue	NOUN
dad-13359	138	24	domains	domain	NOUN
dad-13359	138	25	.	.	PUNCT
dad-13359	139	1	the	the	DET
dad-13359	139	2	authors	author	NOUN
dad-13359	139	3	explored	explore	VERB
dad-13359	139	4	a	a	DET
dad-13359	139	5	baseline	baseline	NOUN
dad-13359	139	6	following	follow	VERB
dad-13359	139	7	the	the	DET
dad-13359	139	8	model	model	NOUN
dad-13359	139	9	of	of	ADP
dad-13359	139	10	beygi	beygi	PROPN
dad-13359	139	11	et	et	PROPN
dad-13359	139	12	al	al	PROPN
dad-13359	139	13	.	.	PROPN
dad-13359	140	1	(	(	PUNCT
dad-13359	140	2	2022	2022	NUM
dad-13359	140	3	)	)	PUNCT
dad-13359	140	4	,	,	PUNCT
dad-13359	140	5	which	which	PRON
dad-13359	140	6	transformed	transform	VERB
dad-13359	140	7	a	a	DET
dad-13359	140	8	knowledge	knowledge	NOUN
dad-13359	140	9	graph	graph	NOUN
dad-13359	140	10	into	into	ADP
dad-13359	140	11	a	a	DET
dad-13359	140	12	text	text	NOUN
dad-13359	140	13	document	document	NOUN
dad-13359	140	14	of	of	ADP
dad-13359	140	15	semantic	semantic	ADJ
dad-13359	140	16	“	"	PUNCT
dad-13359	140	17	pseudo	pseudo	NOUN
dad-13359	140	18	-	-	PUNCT
dad-13359	140	19	language	language	NOUN
dad-13359	140	20	”	"	PUNCT
dad-13359	140	21	statements	statement	NOUN
dad-13359	140	22	.	.	PUNCT
dad-13359	141	1	in	in	ADP
dad-13359	141	2	both	both	CCONJ
dad-13359	141	3	this	this	DET
dad-13359	141	4	model	model	NOUN
dad-13359	141	5	and	and	CCONJ
dad-13359	141	6	diffkg	diffkg	PROPN
dad-13359	141	7	,	,	PUNCT
dad-13359	141	8	a	a	DET
dad-13359	141	9	structured	structured	ADJ
dad-13359	141	10	text	text	NOUN
dad-13359	141	11	representation	representation	NOUN
dad-13359	141	12	of	of	ADP
dad-13359	141	13	the	the	DET
dad-13359	141	14	graph	graph	NOUN
dad-13359	141	15	is	be	AUX
dad-13359	141	16	a	a	DET
dad-13359	141	17	source	source	NOUN
dad-13359	141	18	of	of	ADP
dad-13359	141	19	information	information	NOUN
dad-13359	141	20	to	to	ADP
dad-13359	141	21	the	the	DET
dad-13359	141	22	dialogue	dialogue	NOUN
dad-13359	141	23	system	system	NOUN
dad-13359	141	24	similar	similar	ADJ
dad-13359	141	25	to	to	ADP
dad-13359	141	26	the	the	DET
dad-13359	141	27	semantic	semantic	ADJ
dad-13359	141	28	triple	triple	ADV
dad-13359	141	29	-	-	PUNCT
dad-13359	141	30	based	base	VERB
dad-13359	141	31	model	model	NOUN
dad-13359	141	32	we	we	PRON
dad-13359	141	33	employ	employ	VERB
dad-13359	141	34	in	in	ADP
dad-13359	141	35	our	our	PRON
dad-13359	141	36	study	study	NOUN
dad-13359	141	37	(	(	PUNCT
dad-13359	141	38	see	see	VERB
dad-13359	141	39	section	section	NOUN
dad-13359	141	40	4	4	NUM
dad-13359	141	41	)	)	PUNCT
dad-13359	141	42	.	.	PUNCT
dad-13359	142	1	the	the	DET
dad-13359	142	2	attnio	attnio	PROPN
dad-13359	142	3	model	model	NOUN
dad-13359	142	4	of	of	ADP
dad-13359	142	5	jung	jung	PROPN
dad-13359	142	6	et	et	PROPN
dad-13359	142	7	al	al	PROPN
dad-13359	142	8	.	.	PROPN
dad-13359	142	9	(	(	PUNCT
dad-13359	142	10	2020	2020	NUM
dad-13359	142	11	)	)	PUNCT
dad-13359	142	12	also	also	ADV
dad-13359	142	13	makes	make	VERB
dad-13359	142	14	use	use	NOUN
dad-13359	142	15	of	of	ADP
dad-13359	142	16	traversals	traversal	NOUN
dad-13359	142	17	with	with	ADP
dad-13359	142	18	an	an	DET
dad-13359	142	19	attention	attention	NOUN
dad-13359	142	20	mechanism	mechanism	NOUN
dad-13359	142	21	to	to	PART
dad-13359	142	22	attend	attend	VERB
dad-13359	142	23	to	to	ADP
dad-13359	142	24	varying	vary	VERB
dad-13359	142	25	sizes	size	NOUN
dad-13359	142	26	of	of	ADP
dad-13359	142	27	node	node	ADJ
dad-13359	142	28	neighborhoods	neighborhood	NOUN
dad-13359	142	29	in	in	ADP
dad-13359	142	30	the	the	DET
dad-13359	142	31	graph	graph	NOUN
dad-13359	142	32	.	.	PUNCT
dad-13359	143	1	65	65	NUM
dad-13359	143	2	walker	walker	PROPN
dad-13359	143	3	,	,	PUNCT
dad-13359	143	4	ultes	ulte	NOUN
dad-13359	143	5	and	and	CCONJ
dad-13359	143	6	lison	lison	VERB
dad-13359	143	7	2.3	2.3	NUM
dad-13359	143	8	large	large	ADJ
dad-13359	143	9	language	language	NOUN
dad-13359	143	10	models	model	NOUN
dad-13359	143	11	(	(	PUNCT
dad-13359	143	12	llms	llm	NOUN
dad-13359	143	13	)	)	PUNCT
dad-13359	143	14	2.3.1	2.3.1	NUM
dad-13359	143	15	response	response	NOUN
dad-13359	143	16	generation	generation	NOUN
dad-13359	143	17	with	with	ADP
dad-13359	143	18	llms	llm	NOUN
dad-13359	143	19	llms	llm	NOUN
dad-13359	143	20	have	have	AUX
dad-13359	143	21	demonstrated	demonstrate	VERB
dad-13359	143	22	strong	strong	ADJ
dad-13359	143	23	capabilities	capability	NOUN
dad-13359	143	24	for	for	ADP
dad-13359	143	25	few	few	ADJ
dad-13359	143	26	-	-	PUNCT
dad-13359	143	27	shot	shot	NOUN
dad-13359	143	28	learning	learning	NOUN
dad-13359	143	29	across	across	ADP
dad-13359	143	30	tasks	task	NOUN
dad-13359	143	31	(	(	PUNCT
dad-13359	143	32	brown	brown	PROPN
dad-13359	143	33	et	et	PROPN
dad-13359	143	34	al	al	PROPN
dad-13359	143	35	.	.	PROPN
dad-13359	143	36	,	,	PUNCT
dad-13359	143	37	2020	2020	NUM
dad-13359	143	38	)	)	PUNCT
dad-13359	143	39	,	,	PUNCT
dad-13359	143	40	although	although	SCONJ
dad-13359	143	41	limitations	limitation	NOUN
dad-13359	143	42	remain	remain	VERB
dad-13359	143	43	in	in	ADP
dad-13359	143	44	their	their	PRON
dad-13359	143	45	use	use	NOUN
dad-13359	143	46	in	in	ADP
dad-13359	143	47	task	task	NOUN
dad-13359	143	48	-	-	PUNCT
dad-13359	143	49	oriented	orient	VERB
dad-13359	143	50	dialogue	dialogue	NOUN
dad-13359	143	51	(	(	PUNCT
dad-13359	143	52	hudeček	hudeček	NOUN
dad-13359	143	53	and	and	CCONJ
dad-13359	143	54	dušek	dušek	NOUN
dad-13359	143	55	,	,	PUNCT
dad-13359	143	56	2023	2023	NUM
dad-13359	143	57	)	)	PUNCT
dad-13359	143	58	.	.	PUNCT
dad-13359	144	1	at	at	ADP
dad-13359	144	2	the	the	DET
dad-13359	144	3	outset	outset	NOUN
dad-13359	144	4	,	,	PUNCT
dad-13359	144	5	these	these	DET
dad-13359	144	6	models	model	NOUN
dad-13359	144	7	have	have	VERB
dad-13359	144	8	a	a	DET
dad-13359	144	9	great	great	ADJ
dad-13359	144	10	deal	deal	NOUN
dad-13359	144	11	of	of	ADP
dad-13359	144	12	information	information	NOUN
dad-13359	144	13	available	available	ADJ
dad-13359	144	14	from	from	ADP
dad-13359	144	15	the	the	DET
dad-13359	144	16	large	large	ADJ
dad-13359	144	17	quantities	quantity	NOUN
dad-13359	144	18	of	of	ADP
dad-13359	144	19	data	datum	NOUN
dad-13359	144	20	consumed	consume	VERB
dad-13359	144	21	in	in	ADP
dad-13359	144	22	training	train	VERB
dad-13359	144	23	them	they	PRON
dad-13359	144	24	(	(	PUNCT
dad-13359	144	25	bommasani	bommasani	NOUN
dad-13359	144	26	et	et	PROPN
dad-13359	144	27	al	al	PROPN
dad-13359	144	28	.	.	PROPN
dad-13359	144	29	,	,	PUNCT
dad-13359	144	30	2021	2021	NUM
dad-13359	144	31	)	)	PUNCT
dad-13359	144	32	.	.	PUNCT
dad-13359	145	1	despite	despite	SCONJ
dad-13359	145	2	substantial	substantial	ADJ
dad-13359	145	3	improvements	improvement	NOUN
dad-13359	145	4	in	in	ADP
dad-13359	145	5	llm	llm	PROPN
dad-13359	145	6	performance	performance	NOUN
dad-13359	145	7	across	across	ADP
dad-13359	145	8	tasks	task	NOUN
dad-13359	145	9	,	,	PUNCT
dad-13359	145	10	limitations	limitation	NOUN
dad-13359	145	11	remain	remain	VERB
dad-13359	145	12	.	.	PUNCT
dad-13359	146	1	dziri	dziri	PROPN
dad-13359	146	2	et	et	PROPN
dad-13359	146	3	al	al	PROPN
dad-13359	146	4	.	.	PROPN
dad-13359	147	1	(	(	PUNCT
dad-13359	147	2	2023	2023	NUM
dad-13359	147	3	)	)	PUNCT
dad-13359	147	4	investigated	investigate	VERB
dad-13359	147	5	llm	llm	PROPN
dad-13359	147	6	performance	performance	NOUN
dad-13359	147	7	on	on	ADP
dad-13359	147	8	reasoning	reasoning	NOUN
dad-13359	147	9	tasks	task	NOUN
dad-13359	147	10	and	and	CCONJ
dad-13359	147	11	found	find	VERB
dad-13359	147	12	that	that	SCONJ
dad-13359	147	13	the	the	DET
dad-13359	147	14	models	model	NOUN
dad-13359	147	15	often	often	ADV
dad-13359	147	16	resort	resort	VERB
dad-13359	147	17	to	to	ADP
dad-13359	147	18	basic	basic	ADJ
dad-13359	147	19	pattern	pattern	NOUN
dad-13359	147	20	recognition	recognition	NOUN
dad-13359	147	21	rather	rather	ADV
dad-13359	147	22	than	than	ADP
dad-13359	147	23	generic	generic	ADJ
dad-13359	147	24	problem	problem	NOUN
dad-13359	147	25	solving	solving	NOUN
dad-13359	147	26	.	.	PUNCT
dad-13359	148	1	moreover	moreover	ADV
dad-13359	148	2	,	,	PUNCT
dad-13359	148	3	hallucinations	hallucination	NOUN
dad-13359	148	4	remain	remain	VERB
dad-13359	148	5	a	a	DET
dad-13359	148	6	substantial	substantial	ADJ
dad-13359	148	7	limitation	limitation	NOUN
dad-13359	148	8	and	and	CCONJ
dad-13359	148	9	subject	subject	NOUN
dad-13359	148	10	of	of	ADP
dad-13359	148	11	continuing	continue	VERB
dad-13359	148	12	research	research	NOUN
dad-13359	148	13	(	(	PUNCT
dad-13359	148	14	ji	ji	X
dad-13359	148	15	et	et	PROPN
dad-13359	148	16	al	al	PROPN
dad-13359	148	17	.	.	PROPN
dad-13359	148	18	,	,	PUNCT
dad-13359	148	19	2023	2023	NUM
dad-13359	148	20	)	)	PUNCT
dad-13359	148	21	.	.	PUNCT
dad-13359	149	1	as	as	ADP
dad-13359	149	2	zhang	zhang	PROPN
dad-13359	149	3	et	et	PROPN
dad-13359	149	4	al	al	PROPN
dad-13359	149	5	.	.	PROPN
dad-13359	150	1	(	(	PUNCT
dad-13359	150	2	2023	2023	NUM
dad-13359	150	3	)	)	PUNCT
dad-13359	150	4	describe	describe	VERB
dad-13359	150	5	it	it	PRON
dad-13359	150	6	,	,	PUNCT
dad-13359	150	7	a	a	DET
dad-13359	150	8	hallucination	hallucination	NOUN
dad-13359	150	9	exists	exist	VERB
dad-13359	150	10	when	when	SCONJ
dad-13359	150	11	an	an	DET
dad-13359	150	12	llm	llm	NOUN
dad-13359	150	13	generates	generate	VERB
dad-13359	150	14	output	output	NOUN
dad-13359	150	15	that	that	SCONJ
dad-13359	150	16	“	"	PUNCT
dad-13359	150	17	misaligns	misalign	NOUN
dad-13359	150	18	with	with	ADP
dad-13359	150	19	established	establish	VERB
dad-13359	150	20	world	world	NOUN
dad-13359	150	21	knowledge	knowledge	NOUN
dad-13359	150	22	.	.	PUNCT
dad-13359	150	23	”	"	PUNCT
dad-13359	151	1	for	for	ADP
dad-13359	151	2	our	our	PRON
dad-13359	151	3	purposes	purpose	NOUN
dad-13359	151	4	,	,	PUNCT
dad-13359	151	5	we	we	PRON
dad-13359	151	6	can	can	AUX
dad-13359	151	7	consider	consider	VERB
dad-13359	151	8	established	establish	VERB
dad-13359	151	9	world	world	NOUN
dad-13359	151	10	knowledge	knowledge	NOUN
dad-13359	151	11	to	to	PART
dad-13359	151	12	be	be	AUX
dad-13359	151	13	defined	define	VERB
dad-13359	151	14	by	by	ADP
dad-13359	151	15	the	the	DET
dad-13359	151	16	physical	physical	ADJ
dad-13359	151	17	environment	environment	NOUN
dad-13359	151	18	in	in	ADP
dad-13359	151	19	which	which	PRON
dad-13359	151	20	the	the	DET
dad-13359	151	21	user	user	NOUN
dad-13359	151	22	and	and	CCONJ
dad-13359	151	23	robot	robot	NOUN
dad-13359	151	24	operate	operate	VERB
dad-13359	151	25	.	.	PUNCT
dad-13359	152	1	thus	thus	ADV
dad-13359	152	2	,	,	PUNCT
dad-13359	152	3	the	the	DET
dad-13359	152	4	notion	notion	NOUN
dad-13359	152	5	of	of	ADP
dad-13359	152	6	factuality	factuality	NOUN
dad-13359	152	7	(	(	PUNCT
dad-13359	152	8	or	or	CCONJ
dad-13359	152	9	,	,	PUNCT
dad-13359	152	10	absence	absence	NOUN
dad-13359	152	11	of	of	ADP
dad-13359	152	12	hallucinations	hallucination	NOUN
dad-13359	152	13	)	)	PUNCT
dad-13359	152	14	derives	derive	VERB
dad-13359	152	15	from	from	ADP
dad-13359	152	16	what	what	PRON
dad-13359	152	17	is	be	AUX
dad-13359	152	18	true	true	ADJ
dad-13359	152	19	in	in	ADP
dad-13359	152	20	the	the	DET
dad-13359	152	21	physical	physical	ADJ
dad-13359	152	22	environment	environment	NOUN
dad-13359	152	23	,	,	PUNCT
dad-13359	152	24	thus	thus	ADV
dad-13359	152	25	for	for	ADP
dad-13359	152	26	our	our	PRON
dad-13359	152	27	study	study	NOUN
dad-13359	152	28	we	we	PRON
dad-13359	152	29	seek	seek	VERB
dad-13359	152	30	to	to	PART
dad-13359	152	31	evaluate	evaluate	VERB
dad-13359	152	32	factuality	factuality	NOUN
dad-13359	152	33	of	of	ADP
dad-13359	152	34	model	model	NOUN
dad-13359	152	35	responses	response	NOUN
dad-13359	152	36	with	with	ADP
dad-13359	152	37	respect	respect	NOUN
dad-13359	152	38	to	to	ADP
dad-13359	152	39	the	the	DET
dad-13359	152	40	environment	environment	NOUN
dad-13359	152	41	rather	rather	ADV
dad-13359	152	42	than	than	ADP
dad-13359	152	43	the	the	DET
dad-13359	152	44	graph	graph	NOUN
dad-13359	152	45	itself	itself	PRON
dad-13359	152	46	.	.	PUNCT
dad-13359	153	1	recent	recent	ADJ
dad-13359	153	2	study	study	NOUN
dad-13359	153	3	has	have	AUX
dad-13359	153	4	also	also	ADV
dad-13359	153	5	indicated	indicate	VERB
dad-13359	153	6	that	that	SCONJ
dad-13359	153	7	the	the	DET
dad-13359	153	8	linguistic	linguistic	ADJ
dad-13359	153	9	structures	structure	NOUN
dad-13359	153	10	within	within	ADP
dad-13359	153	11	prompts	prompt	NOUN
dad-13359	153	12	may	may	AUX
dad-13359	153	13	be	be	AUX
dad-13359	153	14	a	a	DET
dad-13359	153	15	factor	factor	NOUN
dad-13359	153	16	in	in	ADP
dad-13359	153	17	the	the	DET
dad-13359	153	18	occurrence	occurrence	NOUN
dad-13359	153	19	of	of	ADP
dad-13359	153	20	hallucinations	hallucination	NOUN
dad-13359	153	21	,	,	PUNCT
dad-13359	153	22	specifically	specifically	ADV
dad-13359	153	23	that	that	SCONJ
dad-13359	153	24	more	more	ADV
dad-13359	153	25	formal	formal	ADJ
dad-13359	153	26	and	and	CCONJ
dad-13359	153	27	concrete	concrete	ADJ
dad-13359	153	28	prompts	prompt	NOUN
dad-13359	153	29	may	may	AUX
dad-13359	153	30	assist	assist	VERB
dad-13359	153	31	in	in	ADP
dad-13359	153	32	reducing	reduce	VERB
dad-13359	153	33	hallucination	hallucination	NOUN
dad-13359	153	34	(	(	PUNCT
dad-13359	153	35	rawte	rawte	NOUN
dad-13359	153	36	et	et	PROPN
dad-13359	153	37	al	al	PROPN
dad-13359	153	38	.	.	PROPN
dad-13359	153	39	,	,	PUNCT
dad-13359	153	40	2023	2023	NUM
dad-13359	153	41	)	)	PUNCT
dad-13359	153	42	.	.	PUNCT
dad-13359	154	1	in	in	ADP
dad-13359	154	2	this	this	DET
dad-13359	154	3	context	context	NOUN
dad-13359	154	4	,	,	PUNCT
dad-13359	154	5	evaluation	evaluation	NOUN
dad-13359	154	6	of	of	ADP
dad-13359	154	7	factuality	factuality	NOUN
dad-13359	154	8	in	in	ADP
dad-13359	154	9	llm	llm	PROPN
dad-13359	154	10	responses	response	NOUN
dad-13359	154	11	remains	remain	VERB
dad-13359	154	12	an	an	DET
dad-13359	154	13	important	important	ADJ
dad-13359	154	14	direction	direction	NOUN
dad-13359	154	15	for	for	ADP
dad-13359	154	16	study	study	NOUN
dad-13359	154	17	.	.	PUNCT
dad-13359	155	1	2.3.2	2.3.2	NUM
dad-13359	155	2	prompting	prompt	VERB
dad-13359	155	3	methods	method	NOUN
dad-13359	155	4	in	in	ADP
dad-13359	155	5	many	many	ADJ
dad-13359	155	6	recent	recent	ADJ
dad-13359	155	7	dialogue	dialogue	NOUN
dad-13359	155	8	systems	system	NOUN
dad-13359	155	9	,	,	PUNCT
dad-13359	155	10	the	the	DET
dad-13359	155	11	model	model	NOUN
dad-13359	155	12	is	be	AUX
dad-13359	155	13	initialized	initialize	VERB
dad-13359	155	14	with	with	ADP
dad-13359	155	15	a	a	DET
dad-13359	155	16	system	system	NOUN
dad-13359	155	17	prompt	prompt	NOUN
dad-13359	155	18	which	which	PRON
dad-13359	155	19	consists	consist	VERB
dad-13359	155	20	of	of	ADP
dad-13359	155	21	an	an	DET
dad-13359	155	22	initial	initial	ADJ
dad-13359	155	23	input	input	NOUN
dad-13359	155	24	that	that	PRON
dad-13359	155	25	informs	inform	VERB
dad-13359	155	26	the	the	DET
dad-13359	155	27	system	system	NOUN
dad-13359	155	28	what	what	DET
dad-13359	155	29	role	role	NOUN
dad-13359	155	30	it	it	PRON
dad-13359	155	31	should	should	AUX
dad-13359	155	32	play	play	VERB
dad-13359	155	33	in	in	ADP
dad-13359	155	34	the	the	DET
dad-13359	155	35	dialogue	dialogue	NOUN
dad-13359	155	36	and	and	CCONJ
dad-13359	155	37	how	how	SCONJ
dad-13359	155	38	to	to	PART
dad-13359	155	39	proceed	proceed	VERB
dad-13359	155	40	(	(	PUNCT
dad-13359	155	41	liu	liu	PROPN
dad-13359	155	42	et	et	PROPN
dad-13359	155	43	al	al	PROPN
dad-13359	155	44	.	.	PROPN
dad-13359	155	45	,	,	PUNCT
dad-13359	155	46	2023	2023	NUM
dad-13359	155	47	)	)	PUNCT
dad-13359	155	48	.	.	PUNCT
dad-13359	156	1	besides	besides	SCONJ
dad-13359	156	2	defining	define	VERB
dad-13359	156	3	the	the	DET
dad-13359	156	4	system	system	NOUN
dad-13359	156	5	’s	’s	PART
dad-13359	156	6	role	role	NOUN
dad-13359	156	7	in	in	ADP
dad-13359	156	8	the	the	DET
dad-13359	156	9	dialogue	dialogue	NOUN
dad-13359	156	10	,	,	PUNCT
dad-13359	156	11	the	the	DET
dad-13359	156	12	prompt	prompt	NOUN
dad-13359	156	13	may	may	AUX
dad-13359	156	14	include	include	VERB
dad-13359	156	15	other	other	ADJ
dad-13359	156	16	information	information	NOUN
dad-13359	156	17	that	that	PRON
dad-13359	156	18	is	be	AUX
dad-13359	156	19	salient	salient	ADJ
dad-13359	156	20	to	to	ADP
dad-13359	156	21	the	the	DET
dad-13359	156	22	system	system	NOUN
dad-13359	156	23	’s	’s	PART
dad-13359	156	24	tasks	task	NOUN
dad-13359	156	25	.	.	PUNCT
dad-13359	157	1	importantly	importantly	ADV
dad-13359	157	2	,	,	PUNCT
dad-13359	157	3	the	the	DET
dad-13359	157	4	input	input	NOUN
dad-13359	157	5	to	to	ADP
dad-13359	157	6	llms	llm	NOUN
dad-13359	157	7	is	be	AUX
dad-13359	157	8	bound	bind	VERB
dad-13359	157	9	by	by	ADP
dad-13359	157	10	a	a	DET
dad-13359	157	11	context	context	NOUN
dad-13359	157	12	window	window	NOUN
dad-13359	157	13	beyond	beyond	ADP
dad-13359	157	14	which	which	PRON
dad-13359	157	15	input	input	NOUN
dad-13359	157	16	text	text	NOUN
dad-13359	157	17	must	must	AUX
dad-13359	157	18	be	be	AUX
dad-13359	157	19	truncated	truncate	VERB
dad-13359	157	20	,	,	PUNCT
dad-13359	157	21	although	although	SCONJ
dad-13359	157	22	some	some	DET
dad-13359	157	23	research	research	NOUN
dad-13359	157	24	has	have	AUX
dad-13359	157	25	investigated	investigate	VERB
dad-13359	157	26	means	mean	NOUN
dad-13359	157	27	of	of	ADP
dad-13359	157	28	alleviating	alleviate	VERB
dad-13359	157	29	this	this	DET
dad-13359	157	30	limitation	limitation	NOUN
dad-13359	157	31	(	(	PUNCT
dad-13359	157	32	ratner	ratner	PROPN
dad-13359	157	33	et	et	PROPN
dad-13359	157	34	al	al	PROPN
dad-13359	157	35	.	.	PROPN
dad-13359	157	36	,	,	PUNCT
dad-13359	157	37	2023	2023	NUM
dad-13359	157	38	)	)	PUNCT
dad-13359	157	39	.	.	PUNCT
dad-13359	158	1	when	when	SCONJ
dad-13359	158	2	the	the	DET
dad-13359	158	3	total	total	ADJ
dad-13359	158	4	scenariospecific	scenariospecific	ADJ
dad-13359	158	5	information	information	NOUN
dad-13359	158	6	exceeds	exceed	VERB
dad-13359	158	7	the	the	DET
dad-13359	158	8	limit	limit	NOUN
dad-13359	158	9	imposed	impose	VERB
dad-13359	158	10	by	by	ADP
dad-13359	158	11	the	the	DET
dad-13359	158	12	context	context	NOUN
dad-13359	158	13	window	window	NOUN
dad-13359	158	14	,	,	PUNCT
dad-13359	158	15	it	it	PRON
dad-13359	158	16	becomes	become	VERB
dad-13359	158	17	advantageous	advantageous	ADJ
dad-13359	158	18	to	to	PART
dad-13359	158	19	design	design	VERB
dad-13359	158	20	methods	method	NOUN
dad-13359	158	21	to	to	PART
dad-13359	158	22	select	select	VERB
dad-13359	158	23	relevant	relevant	ADJ
dad-13359	158	24	information	information	NOUN
dad-13359	158	25	(	(	PUNCT
dad-13359	158	26	thulke	thulke	NOUN
dad-13359	158	27	et	et	PROPN
dad-13359	158	28	al	al	PROPN
dad-13359	158	29	.	.	PROPN
dad-13359	158	30	,	,	PUNCT
dad-13359	158	31	2021	2021	NUM
dad-13359	158	32	)	)	PUNCT
dad-13359	158	33	.	.	PUNCT
dad-13359	159	1	complementary	complementary	ADJ
dad-13359	159	2	to	to	ADP
dad-13359	159	3	these	these	DET
dad-13359	159	4	methods	method	NOUN
dad-13359	159	5	is	be	AUX
dad-13359	159	6	the	the	DET
dad-13359	159	7	possibility	possibility	NOUN
dad-13359	159	8	of	of	ADP
dad-13359	159	9	providing	provide	VERB
dad-13359	159	10	further	far	ADV
dad-13359	159	11	enriched	enrich	VERB
dad-13359	159	12	context	context	NOUN
dad-13359	159	13	such	such	ADJ
dad-13359	159	14	as	as	ADP
dad-13359	159	15	information	information	NOUN
dad-13359	159	16	derived	derive	VERB
dad-13359	159	17	by	by	ADP
dad-13359	159	18	commonsense	commonsense	ADJ
dad-13359	159	19	or	or	CCONJ
dad-13359	159	20	logical	logical	ADJ
dad-13359	159	21	reasoning	reasoning	NOUN
dad-13359	159	22	(	(	PUNCT
dad-13359	159	23	walker	walker	PROPN
dad-13359	159	24	et	et	PROPN
dad-13359	159	25	al	al	PROPN
dad-13359	159	26	.	.	PROPN
dad-13359	159	27	,	,	PUNCT
dad-13359	159	28	2023	2023	NUM
dad-13359	159	29	)	)	PUNCT
dad-13359	159	30	.	.	PUNCT
dad-13359	160	1	due	due	ADP
dad-13359	160	2	to	to	ADP
dad-13359	160	3	the	the	DET
dad-13359	160	4	difficulty	difficulty	NOUN
dad-13359	160	5	of	of	ADP
dad-13359	160	6	training	train	VERB
dad-13359	160	7	large	large	ADJ
dad-13359	160	8	lms	lm	NOUN
dad-13359	160	9	,	,	PUNCT
dad-13359	160	10	the	the	DET
dad-13359	160	11	use	use	NOUN
dad-13359	160	12	of	of	ADP
dad-13359	160	13	in	in	ADP
dad-13359	160	14	-	-	PUNCT
dad-13359	160	15	context	context	NOUN
dad-13359	160	16	learning	learning	NOUN
dad-13359	160	17	has	have	AUX
dad-13359	160	18	also	also	ADV
dad-13359	160	19	become	become	VERB
dad-13359	160	20	a	a	DET
dad-13359	160	21	heavily	heavily	ADV
dad-13359	160	22	investigated	investigate	VERB
dad-13359	160	23	method	method	NOUN
dad-13359	160	24	of	of	ADP
dad-13359	160	25	providing	provide	VERB
dad-13359	160	26	training	training	NOUN
dad-13359	160	27	examples	example	NOUN
dad-13359	160	28	to	to	ADP
dad-13359	160	29	the	the	DET
dad-13359	160	30	largest	large	ADJ
dad-13359	160	31	language	language	NOUN
dad-13359	160	32	models	model	NOUN
dad-13359	160	33	(	(	PUNCT
dad-13359	160	34	dong	dong	NOUN
dad-13359	160	35	et	et	PROPN
dad-13359	160	36	al	al	PROPN
dad-13359	160	37	.	.	PROPN
dad-13359	160	38	,	,	PUNCT
dad-13359	160	39	2022	2022	NUM
dad-13359	160	40	)	)	PUNCT
dad-13359	160	41	.	.	PUNCT
dad-13359	161	1	with	with	ADP
dad-13359	161	2	in	in	ADP
dad-13359	161	3	-	-	PUNCT
dad-13359	161	4	context	context	NOUN
dad-13359	161	5	learning	learning	NOUN
dad-13359	161	6	,	,	PUNCT
dad-13359	161	7	a	a	DET
dad-13359	161	8	small	small	ADJ
dad-13359	161	9	number	number	NOUN
dad-13359	161	10	of	of	ADP
dad-13359	161	11	examples	example	NOUN
dad-13359	161	12	can	can	AUX
dad-13359	161	13	be	be	AUX
dad-13359	161	14	used	use	VERB
dad-13359	161	15	to	to	PART
dad-13359	161	16	prime	prime	VERB
dad-13359	161	17	a	a	DET
dad-13359	161	18	model	model	NOUN
dad-13359	161	19	to	to	PART
dad-13359	161	20	generate	generate	VERB
dad-13359	161	21	output	output	NOUN
dad-13359	161	22	of	of	ADP
dad-13359	161	23	a	a	DET
dad-13359	161	24	desired	desire	VERB
dad-13359	161	25	format	format	NOUN
dad-13359	161	26	or	or	CCONJ
dad-13359	161	27	style	style	NOUN
dad-13359	161	28	.	.	PUNCT
dad-13359	162	1	notably	notably	ADV
dad-13359	162	2	,	,	PUNCT
dad-13359	162	3	this	this	DET
dad-13359	162	4	technique	technique	NOUN
dad-13359	162	5	avoids	avoid	VERB
dad-13359	162	6	the	the	DET
dad-13359	162	7	need	need	NOUN
dad-13359	162	8	to	to	PART
dad-13359	162	9	update	update	VERB
dad-13359	162	10	model	model	NOUN
dad-13359	162	11	parameters	parameter	NOUN
dad-13359	162	12	which	which	PRON
dad-13359	162	13	would	would	AUX
dad-13359	162	14	otherwise	otherwise	ADV
dad-13359	162	15	be	be	AUX
dad-13359	162	16	costly	costly	ADJ
dad-13359	162	17	or	or	CCONJ
dad-13359	162	18	infeasible	infeasible	ADJ
dad-13359	162	19	given	give	VERB
dad-13359	162	20	the	the	DET
dad-13359	162	21	size	size	NOUN
dad-13359	162	22	of	of	ADP
dad-13359	162	23	many	many	ADJ
dad-13359	162	24	current	current	ADJ
dad-13359	162	25	llms	llm	NOUN
dad-13359	162	26	,	,	PUNCT
dad-13359	162	27	instead	instead	ADV
dad-13359	162	28	relying	rely	VERB
dad-13359	162	29	upon	upon	SCONJ
dad-13359	162	30	the	the	DET
dad-13359	162	31	model	model	NOUN
dad-13359	162	32	’s	’s	PART
dad-13359	162	33	pattern	pattern	NOUN
dad-13359	162	34	recognition	recognition	NOUN
dad-13359	162	35	abilities	ability	NOUN
dad-13359	162	36	to	to	PART
dad-13359	162	37	adapt	adapt	VERB
dad-13359	162	38	its	its	PRON
dad-13359	162	39	output	output	NOUN
dad-13359	162	40	to	to	ADP
dad-13359	162	41	a	a	DET
dad-13359	162	42	desired	desire	VERB
dad-13359	162	43	outcome	outcome	NOUN
dad-13359	162	44	.	.	PUNCT
dad-13359	163	1	combined	combine	VERB
dad-13359	163	2	with	with	ADP
dad-13359	163	3	the	the	DET
dad-13359	163	4	general	general	ADJ
dad-13359	163	5	notion	notion	NOUN
dad-13359	163	6	of	of	ADP
dad-13359	163	7	prompting	prompt	VERB
dad-13359	163	8	,	,	PUNCT
dad-13359	163	9	this	this	DET
dad-13359	163	10	approach	approach	NOUN
dad-13359	163	11	enables	enable	VERB
dad-13359	163	12	substantial	substantial	ADJ
dad-13359	163	13	flexibility	flexibility	NOUN
dad-13359	163	14	when	when	SCONJ
dad-13359	163	15	using	use	VERB
dad-13359	163	16	llms	llm	NOUN
dad-13359	163	17	for	for	ADP
dad-13359	163	18	different	different	ADJ
dad-13359	163	19	tasks	task	NOUN
dad-13359	163	20	and	and	CCONJ
dad-13359	163	21	scenarios	scenario	NOUN
dad-13359	163	22	,	,	PUNCT
dad-13359	163	23	including	include	VERB
dad-13359	163	24	with	with	ADP
dad-13359	163	25	multimodal	multimodal	NOUN
dad-13359	163	26	tasks	task	NOUN
dad-13359	163	27	such	such	ADJ
dad-13359	163	28	as	as	ADP
dad-13359	163	29	generalizing	generalize	VERB
dad-13359	163	30	models	model	NOUN
dad-13359	163	31	to	to	ADP
dad-13359	163	32	unseen	unseen	ADJ
dad-13359	163	33	contexts	contexts	NOUN
dad-13359	163	34	(	(	PUNCT
dad-13359	163	35	tai	tai	NOUN
dad-13359	163	36	et	et	PROPN
dad-13359	163	37	al	al	PROPN
dad-13359	163	38	.	.	PROPN
dad-13359	163	39	,	,	PUNCT
dad-13359	163	40	2023	2023	NUM
dad-13359	163	41	)	)	PUNCT
dad-13359	163	42	.	.	PUNCT
dad-13359	164	1	in	in	ADP
dad-13359	164	2	-	-	PUNCT
dad-13359	164	3	context	context	NOUN
dad-13359	164	4	learning	learning	NOUN
dad-13359	164	5	with	with	ADP
dad-13359	164	6	llms	llm	NOUN
dad-13359	164	7	has	have	AUX
dad-13359	164	8	also	also	ADV
dad-13359	164	9	been	be	AUX
dad-13359	164	10	demonstrated	demonstrate	VERB
dad-13359	164	11	with	with	ADP
dad-13359	164	12	table	table	NOUN
dad-13359	164	13	-	-	PUNCT
dad-13359	164	14	like	like	ADJ
dad-13359	164	15	structures	structure	NOUN
dad-13359	164	16	(	(	PUNCT
dad-13359	164	17	chen	chen	PROPN
dad-13359	164	18	,	,	PUNCT
dad-13359	164	19	2022	2022	NUM
dad-13359	164	20	)	)	PUNCT
dad-13359	164	21	.	.	PUNCT
dad-13359	165	1	66	66	NUM
dad-13359	165	2	a	a	DET
dad-13359	165	3	graph	graph	NOUN
dad-13359	165	4	-	-	PUNCT
dad-13359	165	5	to	to	ADP
dad-13359	165	6	-	-	PUNCT
dad-13359	165	7	text	text	NOUN
dad-13359	165	8	approach	approach	NOUN
dad-13359	165	9	to	to	ADP
dad-13359	165	10	knowledge	knowledge	NOUN
dad-13359	165	11	-	-	PUNCT
dad-13359	165	12	grounded	ground	VERB
dad-13359	165	13	response	response	NOUN
dad-13359	165	14	generation	generation	NOUN
dad-13359	165	15	in	in	ADP
dad-13359	165	16	hri	hri	PROPN
dad-13359	165	17	2.3.3	2.3.3	NUM
dad-13359	165	18	llms	llm	NOUN
dad-13359	165	19	in	in	ADP
dad-13359	165	20	embodied	embodied	ADJ
dad-13359	165	21	systems	system	NOUN
dad-13359	165	22	as	as	SCONJ
dad-13359	165	23	noted	note	VERB
dad-13359	165	24	previously	previously	ADV
dad-13359	165	25	,	,	PUNCT
dad-13359	165	26	llms	llm	NOUN
dad-13359	165	27	have	have	AUX
dad-13359	165	28	been	be	AUX
dad-13359	165	29	used	use	VERB
dad-13359	165	30	as	as	ADP
dad-13359	165	31	a	a	DET
dad-13359	165	32	means	means	NOUN
dad-13359	165	33	of	of	ADP
dad-13359	165	34	processing	processing	NOUN
dad-13359	165	35	language	language	NOUN
dad-13359	165	36	input	input	NOUN
dad-13359	165	37	for	for	ADP
dad-13359	165	38	embodied	embodied	ADJ
dad-13359	165	39	systems	system	NOUN
dad-13359	165	40	such	such	ADJ
dad-13359	165	41	as	as	ADP
dad-13359	165	42	commands	command	NOUN
dad-13359	165	43	or	or	CCONJ
dad-13359	165	44	instructions	instruction	NOUN
dad-13359	165	45	from	from	ADP
dad-13359	165	46	a	a	DET
dad-13359	165	47	user	user	NOUN
dad-13359	165	48	.	.	PUNCT
dad-13359	166	1	an	an	DET
dad-13359	166	2	example	example	NOUN
dad-13359	166	3	of	of	ADP
dad-13359	166	4	a	a	DET
dad-13359	166	5	model	model	NOUN
dad-13359	166	6	that	that	PRON
dad-13359	166	7	integrated	integrate	VERB
dad-13359	166	8	an	an	DET
dad-13359	166	9	llm	llm	NOUN
dad-13359	166	10	with	with	ADP
dad-13359	166	11	an	an	DET
dad-13359	166	12	embodied	embodied	ADJ
dad-13359	166	13	agent	agent	NOUN
dad-13359	166	14	is	be	AUX
dad-13359	166	15	the	the	DET
dad-13359	166	16	progprompt	progprompt	ADJ
dad-13359	166	17	model	model	NOUN
dad-13359	166	18	presented	present	VERB
dad-13359	166	19	by	by	ADP
dad-13359	166	20	gupta	gupta	PROPN
dad-13359	166	21	and	and	CCONJ
dad-13359	166	22	kembhavi	kembhavi	VERB
dad-13359	166	23	(	(	PUNCT
dad-13359	166	24	2023	2023	NUM
dad-13359	166	25	)	)	PUNCT
dad-13359	166	26	.	.	PUNCT
dad-13359	167	1	progprompt	progprompt	PROPN
dad-13359	167	2	generated	generate	VERB
dad-13359	167	3	task	task	NOUN
dad-13359	167	4	plans	plan	NOUN
dad-13359	167	5	for	for	ADP
dad-13359	167	6	a	a	DET
dad-13359	167	7	robot	robot	NOUN
dad-13359	167	8	using	use	VERB
dad-13359	167	9	an	an	DET
dad-13359	167	10	llm	llm	NOUN
dad-13359	167	11	by	by	ADP
dad-13359	167	12	making	make	VERB
dad-13359	167	13	use	use	NOUN
dad-13359	167	14	of	of	ADP
dad-13359	167	15	a	a	DET
dad-13359	167	16	python	python	NOUN
dad-13359	167	17	-	-	PUNCT
dad-13359	167	18	like	like	ADJ
dad-13359	167	19	prompt	prompt	ADJ
dad-13359	167	20	format	format	NOUN
dad-13359	167	21	which	which	PRON
dad-13359	167	22	induced	induce	VERB
dad-13359	167	23	the	the	DET
dad-13359	167	24	llm	llm	NOUN
dad-13359	167	25	to	to	PART
dad-13359	167	26	generate	generate	VERB
dad-13359	167	27	actions	action	NOUN
dad-13359	167	28	structured	structure	VERB
dad-13359	167	29	as	as	ADP
dad-13359	167	30	executable	executable	ADJ
dad-13359	167	31	programs	program	NOUN
dad-13359	167	32	.	.	PUNCT
dad-13359	168	1	thus	thus	ADV
dad-13359	168	2	,	,	PUNCT
dad-13359	168	3	the	the	DET
dad-13359	168	4	llm	llm	NOUN
dad-13359	168	5	does	do	AUX
dad-13359	168	6	not	not	PART
dad-13359	168	7	operate	operate	VERB
dad-13359	168	8	on	on	ADP
dad-13359	168	9	strictly	strictly	ADV
dad-13359	168	10	natural	natural	ADJ
dad-13359	168	11	language	language	NOUN
dad-13359	168	12	,	,	PUNCT
dad-13359	168	13	but	but	CCONJ
dad-13359	168	14	rather	rather	ADV
dad-13359	168	15	a	a	DET
dad-13359	168	16	kind	kind	NOUN
dad-13359	168	17	of	of	ADP
dad-13359	168	18	programming	programming	NOUN
dad-13359	168	19	language	language	NOUN
dad-13359	168	20	.	.	PUNCT
dad-13359	169	1	a	a	DET
dad-13359	169	2	major	major	ADJ
dad-13359	169	3	advantage	advantage	NOUN
dad-13359	169	4	in	in	ADP
dad-13359	169	5	the	the	DET
dad-13359	169	6	progprompt	progprompt	ADJ
dad-13359	169	7	system	system	NOUN
dad-13359	169	8	was	be	AUX
dad-13359	169	9	that	that	SCONJ
dad-13359	169	10	the	the	DET
dad-13359	169	11	set	set	NOUN
dad-13359	169	12	of	of	ADP
dad-13359	169	13	actions	action	NOUN
dad-13359	169	14	available	available	ADJ
dad-13359	169	15	to	to	ADP
dad-13359	169	16	the	the	DET
dad-13359	169	17	robot	robot	NOUN
dad-13359	169	18	could	could	AUX
dad-13359	169	19	be	be	AUX
dad-13359	169	20	represented	represent	VERB
dad-13359	169	21	compactly	compactly	ADV
dad-13359	169	22	and	and	CCONJ
dad-13359	169	23	abstractly	abstractly	ADV
dad-13359	169	24	as	as	ADP
dad-13359	169	25	functions	function	NOUN
dad-13359	169	26	in	in	ADP
dad-13359	169	27	this	this	DET
dad-13359	169	28	language	language	NOUN
dad-13359	169	29	structure	structure	NOUN
dad-13359	169	30	.	.	PUNCT
dad-13359	170	1	a	a	DET
dad-13359	170	2	robot	robot	NOUN
dad-13359	170	3	equipped	equip	VERB
dad-13359	170	4	with	with	ADP
dad-13359	170	5	an	an	DET
dad-13359	170	6	llm	llm	NOUN
dad-13359	170	7	was	be	AUX
dad-13359	170	8	also	also	ADV
dad-13359	170	9	presented	present	VERB
dad-13359	170	10	by	by	ADP
dad-13359	170	11	billing	bill	VERB
dad-13359	170	12	et	et	PROPN
dad-13359	170	13	al	al	PROPN
dad-13359	170	14	.	.	PROPN
dad-13359	171	1	(	(	PUNCT
dad-13359	171	2	2023	2023	NUM
dad-13359	171	3	)	)	PUNCT
dad-13359	171	4	,	,	PUNCT
dad-13359	171	5	who	who	PRON
dad-13359	171	6	demonstrated	demonstrate	VERB
dad-13359	171	7	a	a	DET
dad-13359	171	8	basic	basic	ADJ
dad-13359	171	9	model	model	NOUN
dad-13359	171	10	of	of	ADP
dad-13359	171	11	hri	hri	PROPN
dad-13359	171	12	with	with	ADP
dad-13359	171	13	a	a	DET
dad-13359	171	14	pepper	pepper	NOUN
dad-13359	171	15	robot	robot	NOUN
dad-13359	171	16	using	use	VERB
dad-13359	171	17	the	the	DET
dad-13359	171	18	gpt-3	gpt-3	NOUN
dad-13359	171	19	model	model	NOUN
dad-13359	171	20	of	of	ADP
dad-13359	171	21	openai	openai	NOUN
dad-13359	171	22	.	.	PUNCT
dad-13359	172	1	in	in	ADP
dad-13359	172	2	this	this	DET
dad-13359	172	3	case	case	NOUN
dad-13359	172	4	,	,	PUNCT
dad-13359	172	5	although	although	SCONJ
dad-13359	172	6	the	the	DET
dad-13359	172	7	dialogue	dialogue	NOUN
dad-13359	172	8	system	system	NOUN
dad-13359	172	9	interacted	interact	VERB
dad-13359	172	10	with	with	ADP
dad-13359	172	11	the	the	DET
dad-13359	172	12	user	user	NOUN
dad-13359	172	13	through	through	ADP
dad-13359	172	14	an	an	DET
dad-13359	172	15	physical	physical	ADJ
dad-13359	172	16	agent	agent	NOUN
dad-13359	172	17	,	,	PUNCT
dad-13359	172	18	the	the	DET
dad-13359	172	19	dialogues	dialogue	NOUN
dad-13359	172	20	themselves	themselves	PRON
dad-13359	172	21	were	be	AUX
dad-13359	172	22	not	not	PART
dad-13359	172	23	situated	situate	VERB
dad-13359	172	24	in	in	ADP
dad-13359	172	25	the	the	DET
dad-13359	172	26	physical	physical	ADJ
dad-13359	172	27	environment	environment	NOUN
dad-13359	172	28	.	.	PUNCT
dad-13359	173	1	beyond	beyond	ADP
dad-13359	173	2	the	the	DET
dad-13359	173	3	use	use	NOUN
dad-13359	173	4	of	of	ADP
dad-13359	173	5	text	text	NOUN
dad-13359	173	6	input	input	NOUN
dad-13359	173	7	(	(	PUNCT
dad-13359	173	8	natural	natural	ADJ
dad-13359	173	9	language	language	NOUN
dad-13359	173	10	or	or	CCONJ
dad-13359	173	11	otherwise	otherwise	ADV
dad-13359	173	12	)	)	PUNCT
dad-13359	173	13	,	,	PUNCT
dad-13359	173	14	other	other	ADJ
dad-13359	173	15	research	research	NOUN
dad-13359	173	16	has	have	AUX
dad-13359	173	17	investigated	investigate	VERB
dad-13359	173	18	directly	directly	ADV
dad-13359	173	19	incorporating	incorporate	VERB
dad-13359	173	20	multimodal	multimodal	ADJ
dad-13359	173	21	input	input	NOUN
dad-13359	173	22	to	to	ADP
dad-13359	173	23	llm	llm	PROPN
dad-13359	173	24	architectures	architecture	NOUN
dad-13359	173	25	.	.	PUNCT
dad-13359	174	1	an	an	DET
dad-13359	174	2	example	example	NOUN
dad-13359	174	3	of	of	ADP
dad-13359	174	4	llm	llm	PROPN
dad-13359	174	5	capable	capable	ADJ
dad-13359	174	6	of	of	ADP
dad-13359	174	7	generating	generate	VERB
dad-13359	174	8	text	text	NOUN
dad-13359	174	9	based	base	VERB
dad-13359	174	10	on	on	ADP
dad-13359	174	11	combined	combine	VERB
dad-13359	174	12	text	text	NOUN
dad-13359	174	13	and	and	CCONJ
dad-13359	174	14	visual	visual	ADJ
dad-13359	174	15	input	input	NOUN
dad-13359	174	16	is	be	AUX
dad-13359	174	17	the	the	DET
dad-13359	174	18	flamingo	flamingo	NOUN
dad-13359	174	19	model	model	NOUN
dad-13359	174	20	of	of	ADP
dad-13359	174	21	alayrac	alayrac	PROPN
dad-13359	174	22	et	et	PROPN
dad-13359	174	23	al	al	PROPN
dad-13359	174	24	.	.	PROPN
dad-13359	174	25	(	(	PUNCT
dad-13359	174	26	2022	2022	NUM
dad-13359	174	27	)	)	PUNCT
dad-13359	174	28	,	,	PUNCT
dad-13359	174	29	who	who	PRON
dad-13359	174	30	presented	present	VERB
dad-13359	174	31	an	an	DET
dad-13359	174	32	approach	approach	NOUN
dad-13359	174	33	to	to	PART
dad-13359	174	34	combine	combine	VERB
dad-13359	174	35	textual	textual	ADJ
dad-13359	174	36	and	and	CCONJ
dad-13359	174	37	image	image	NOUN
dad-13359	174	38	data	datum	NOUN
dad-13359	174	39	with	with	ADP
dad-13359	174	40	few	few	ADJ
dad-13359	174	41	-	-	PUNCT
dad-13359	174	42	shot	shot	NOUN
dad-13359	174	43	prompting	prompt	VERB
dad-13359	174	44	for	for	ADP
dad-13359	174	45	visual	visual	ADJ
dad-13359	174	46	dialogue	dialogue	NOUN
dad-13359	174	47	.	.	PUNCT
dad-13359	175	1	similarly	similarly	ADV
dad-13359	175	2	,	,	PUNCT
dad-13359	175	3	the	the	DET
dad-13359	175	4	palm	palm	NOUN
dad-13359	175	5	-	-	PUNCT
dad-13359	175	6	e	e	NOUN
dad-13359	175	7	model	model	NOUN
dad-13359	175	8	of	of	ADP
dad-13359	175	9	driess	driess	PROPN
dad-13359	175	10	et	et	PROPN
dad-13359	175	11	al	al	PROPN
dad-13359	175	12	.	.	PROPN
dad-13359	175	13	(	(	PUNCT
dad-13359	175	14	2023	2023	NUM
dad-13359	175	15	)	)	PUNCT
dad-13359	175	16	addressed	address	VERB
dad-13359	175	17	multimodality	multimodality	NOUN
dad-13359	175	18	by	by	ADP
dad-13359	175	19	directly	directly	ADV
dad-13359	175	20	incorporating	incorporate	VERB
dad-13359	175	21	embeddings	embedding	NOUN
dad-13359	175	22	of	of	ADP
dad-13359	175	23	image	image	NOUN
dad-13359	175	24	and	and	CCONJ
dad-13359	175	25	other	other	ADJ
dad-13359	175	26	non	non	ADJ
dad-13359	175	27	-	-	ADJ
dad-13359	175	28	language	language	ADJ
dad-13359	175	29	data	datum	NOUN
dad-13359	175	30	in	in	ADP
dad-13359	175	31	the	the	DET
dad-13359	175	32	input	input	NOUN
dad-13359	175	33	to	to	ADP
dad-13359	175	34	an	an	DET
dad-13359	175	35	llm	llm	NOUN
dad-13359	175	36	architecture	architecture	NOUN
dad-13359	175	37	.	.	PUNCT
dad-13359	176	1	such	such	ADJ
dad-13359	176	2	approaches	approach	NOUN
dad-13359	176	3	suggest	suggest	VERB
dad-13359	176	4	that	that	SCONJ
dad-13359	176	5	models	model	NOUN
dad-13359	176	6	trained	train	VERB
dad-13359	176	7	or	or	CCONJ
dad-13359	176	8	prompted	prompt	VERB
dad-13359	176	9	to	to	PART
dad-13359	176	10	incorporate	incorporate	VERB
dad-13359	176	11	mixed	mixed	ADJ
dad-13359	176	12	forms	form	NOUN
dad-13359	176	13	of	of	ADP
dad-13359	176	14	information	information	NOUN
dad-13359	176	15	can	can	AUX
dad-13359	176	16	be	be	AUX
dad-13359	176	17	effective	effective	ADJ
dad-13359	176	18	,	,	PUNCT
dad-13359	176	19	however	however	ADV
dad-13359	176	20	these	these	DET
dad-13359	176	21	architectures	architecture	NOUN
dad-13359	176	22	are	be	AUX
dad-13359	176	23	often	often	ADV
dad-13359	176	24	task	task	NOUN
dad-13359	176	25	-	-	PUNCT
dad-13359	176	26	specific	specific	NOUN
dad-13359	176	27	.	.	PUNCT
dad-13359	177	1	moreover	moreover	ADV
dad-13359	177	2	,	,	PUNCT
dad-13359	177	3	as	as	SCONJ
dad-13359	177	4	noted	note	VERB
dad-13359	177	5	before	before	ADV
dad-13359	177	6	,	,	PUNCT
dad-13359	177	7	it	it	PRON
dad-13359	177	8	is	be	AUX
dad-13359	177	9	often	often	ADV
dad-13359	177	10	cost	cost	NOUN
dad-13359	177	11	-	-	PUNCT
dad-13359	177	12	prohibitive	prohibitive	ADJ
dad-13359	177	13	to	to	PART
dad-13359	177	14	train	train	VERB
dad-13359	177	15	large	large	ADJ
dad-13359	177	16	models	model	NOUN
dad-13359	177	17	.	.	PUNCT
dad-13359	178	1	when	when	SCONJ
dad-13359	178	2	the	the	DET
dad-13359	178	3	system	system	NOUN
dad-13359	178	4	must	must	AUX
dad-13359	178	5	take	take	VERB
dad-13359	178	6	into	into	ADP
dad-13359	178	7	account	account	NOUN
dad-13359	178	8	its	its	PRON
dad-13359	178	9	physical	physical	ADJ
dad-13359	178	10	environment	environment	NOUN
dad-13359	178	11	,	,	PUNCT
dad-13359	178	12	the	the	DET
dad-13359	178	13	challenge	challenge	NOUN
dad-13359	178	14	of	of	ADP
dad-13359	178	15	presenting	present	VERB
dad-13359	178	16	it	it	PRON
dad-13359	178	17	appropriate	appropriate	ADJ
dad-13359	178	18	information	information	NOUN
dad-13359	178	19	is	be	AUX
dad-13359	178	20	potentially	potentially	ADV
dad-13359	178	21	greater	great	ADJ
dad-13359	178	22	than	than	ADP
dad-13359	178	23	a	a	DET
dad-13359	178	24	non	non	ADJ
dad-13359	178	25	-	-	ADJ
dad-13359	178	26	embodied	embodied	ADJ
dad-13359	178	27	dialogue	dialogue	NOUN
dad-13359	178	28	system	system	NOUN
dad-13359	178	29	.	.	PUNCT
dad-13359	179	1	as	as	SCONJ
dad-13359	179	2	direct	direct	ADJ
dad-13359	179	3	operation	operation	NOUN
dad-13359	179	4	on	on	ADP
dad-13359	179	5	audio	audio	ADJ
dad-13359	179	6	-	-	ADJ
dad-13359	179	7	visual	visual	ADJ
dad-13359	179	8	data	datum	NOUN
dad-13359	179	9	or	or	CCONJ
dad-13359	179	10	haptic	haptic	ADJ
dad-13359	179	11	feedback	feedback	NOUN
dad-13359	179	12	is	be	AUX
dad-13359	179	13	impossible	impossible	ADJ
dad-13359	179	14	for	for	ADP
dad-13359	179	15	an	an	DET
dad-13359	179	16	llm	llm	NOUN
dad-13359	179	17	,	,	PUNCT
dad-13359	179	18	a	a	DET
dad-13359	179	19	transformation	transformation	NOUN
dad-13359	179	20	from	from	ADP
dad-13359	179	21	the	the	DET
dad-13359	179	22	raw	raw	ADJ
dad-13359	179	23	forms	form	NOUN
dad-13359	179	24	of	of	ADP
dad-13359	179	25	these	these	DET
dad-13359	179	26	inputs	input	NOUN
dad-13359	179	27	into	into	ADP
dad-13359	179	28	natural	natural	ADJ
dad-13359	179	29	language	language	NOUN
dad-13359	179	30	is	be	AUX
dad-13359	179	31	required	require	VERB
dad-13359	179	32	.	.	PUNCT
dad-13359	180	1	ahn	ahn	PROPN
dad-13359	180	2	et	et	PROPN
dad-13359	180	3	al	al	PROPN
dad-13359	180	4	.	.	PROPN
dad-13359	180	5	(	(	PUNCT
dad-13359	180	6	2022	2022	NUM
dad-13359	180	7	)	)	PUNCT
dad-13359	180	8	presented	present	VERB
dad-13359	180	9	a	a	DET
dad-13359	180	10	model	model	NOUN
dad-13359	180	11	called	call	VERB
dad-13359	180	12	saycan	saycan	NOUN
dad-13359	180	13	that	that	SCONJ
dad-13359	180	14	combined	combine	VERB
dad-13359	180	15	an	an	DET
dad-13359	180	16	llm	llm	NOUN
dad-13359	180	17	with	with	ADP
dad-13359	180	18	an	an	DET
dad-13359	180	19	“	"	PUNCT
dad-13359	180	20	affordance	affordance	ADJ
dad-13359	180	21	function	function	NOUN
dad-13359	180	22	”	"	PUNCT
dad-13359	180	23	describing	describe	VERB
dad-13359	180	24	the	the	DET
dad-13359	180	25	probability	probability	NOUN
dad-13359	180	26	of	of	ADP
dad-13359	180	27	success	success	NOUN
dad-13359	180	28	over	over	ADP
dad-13359	180	29	a	a	DET
dad-13359	180	30	set	set	NOUN
dad-13359	180	31	of	of	ADP
dad-13359	180	32	possible	possible	ADJ
dad-13359	180	33	actions	action	NOUN
dad-13359	180	34	for	for	ADP
dad-13359	180	35	the	the	DET
dad-13359	180	36	agent	agent	NOUN
dad-13359	180	37	.	.	PUNCT
dad-13359	181	1	another	another	DET
dad-13359	181	2	example	example	NOUN
dad-13359	181	3	of	of	ADP
dad-13359	181	4	such	such	DET
dad-13359	181	5	a	a	DET
dad-13359	181	6	system	system	NOUN
dad-13359	181	7	was	be	AUX
dad-13359	181	8	presented	present	VERB
dad-13359	181	9	by	by	ADP
dad-13359	181	10	zhao	zhao	PROPN
dad-13359	181	11	et	et	PROPN
dad-13359	181	12	al	al	PROPN
dad-13359	181	13	.	.	PROPN
dad-13359	182	1	(	(	PUNCT
dad-13359	182	2	2023	2023	NUM
dad-13359	182	3	)	)	PUNCT
dad-13359	182	4	,	,	PUNCT
dad-13359	182	5	where	where	SCONJ
dad-13359	182	6	a	a	DET
dad-13359	182	7	robot	robot	NOUN
dad-13359	182	8	“	"	PUNCT
dad-13359	182	9	chats	chat	NOUN
dad-13359	182	10	”	"	PUNCT
dad-13359	182	11	with	with	ADP
dad-13359	182	12	the	the	DET
dad-13359	182	13	environment	environment	NOUN
dad-13359	182	14	in	in	ADP
dad-13359	182	15	the	the	DET
dad-13359	182	16	sense	sense	NOUN
dad-13359	182	17	that	that	SCONJ
dad-13359	182	18	multimodal	multimodal	ADJ
dad-13359	182	19	sensory	sensory	ADJ
dad-13359	182	20	input	input	NOUN
dad-13359	182	21	is	be	AUX
dad-13359	182	22	iteratively	iteratively	ADV
dad-13359	182	23	presented	present	VERB
dad-13359	182	24	to	to	ADP
dad-13359	182	25	an	an	DET
dad-13359	182	26	llm	llm	NOUN
dad-13359	182	27	as	as	ADP
dad-13359	182	28	natural	natural	ADJ
dad-13359	182	29	language	language	NOUN
dad-13359	182	30	statements	statement	NOUN
dad-13359	182	31	describing	describe	VERB
dad-13359	182	32	the	the	DET
dad-13359	182	33	input	input	NOUN
dad-13359	182	34	,	,	PUNCT
dad-13359	182	35	with	with	ADP
dad-13359	182	36	the	the	DET
dad-13359	182	37	model	model	NOUN
dad-13359	182	38	outputting	outputting	NOUN
dad-13359	182	39	actions	action	NOUN
dad-13359	182	40	at	at	ADP
dad-13359	182	41	each	each	DET
dad-13359	182	42	turn	turn	NOUN
dad-13359	182	43	.	.	PUNCT
dad-13359	183	1	this	this	DET
dad-13359	183	2	approach	approach	NOUN
dad-13359	183	3	takes	take	VERB
dad-13359	183	4	advantage	advantage	NOUN
dad-13359	183	5	of	of	ADP
dad-13359	183	6	the	the	DET
dad-13359	183	7	turn	turn	NOUN
dad-13359	183	8	-	-	PUNCT
dad-13359	183	9	taking	take	VERB
dad-13359	183	10	nature	nature	NOUN
dad-13359	183	11	of	of	ADP
dad-13359	183	12	dialogue	dialogue	NOUN
dad-13359	183	13	to	to	PART
dad-13359	183	14	inform	inform	VERB
dad-13359	183	15	a	a	DET
dad-13359	183	16	system	system	NOUN
dad-13359	183	17	in	in	ADP
dad-13359	183	18	real	real	ADJ
dad-13359	183	19	-	-	PUNCT
dad-13359	183	20	time	time	NOUN
dad-13359	183	21	,	,	PUNCT
dad-13359	183	22	but	but	CCONJ
dad-13359	183	23	would	would	AUX
dad-13359	183	24	be	be	AUX
dad-13359	183	25	difficult	difficult	ADJ
dad-13359	183	26	to	to	PART
dad-13359	183	27	port	port	VERB
dad-13359	183	28	to	to	ADP
dad-13359	183	29	an	an	DET
dad-13359	183	30	embodied	embodied	ADJ
dad-13359	183	31	agent	agent	NOUN
dad-13359	183	32	intended	intend	VERB
dad-13359	183	33	to	to	PART
dad-13359	183	34	explore	explore	VERB
dad-13359	183	35	a	a	DET
dad-13359	183	36	wider	wide	ADJ
dad-13359	183	37	environment	environment	NOUN
dad-13359	183	38	.	.	PUNCT
dad-13359	184	1	nonetheless	nonetheless	ADV
dad-13359	184	2	,	,	PUNCT
dad-13359	184	3	this	this	DET
dad-13359	184	4	work	work	NOUN
dad-13359	184	5	demonstrates	demonstrate	VERB
dad-13359	184	6	the	the	DET
dad-13359	184	7	capabilities	capability	NOUN
dad-13359	184	8	of	of	ADP
dad-13359	184	9	an	an	DET
dad-13359	184	10	llm	llm	NOUN
dad-13359	184	11	in	in	ADP
dad-13359	184	12	reasoning	reasoning	NOUN
dad-13359	184	13	over	over	ADP
dad-13359	184	14	diverse	diverse	ADJ
dad-13359	184	15	sources	source	NOUN
dad-13359	184	16	of	of	ADP
dad-13359	184	17	input	input	NOUN
dad-13359	184	18	information	information	NOUN
dad-13359	184	19	represented	represent	VERB
dad-13359	184	20	as	as	ADP
dad-13359	184	21	natural	natural	ADJ
dad-13359	184	22	language	language	NOUN
dad-13359	184	23	.	.	PUNCT
dad-13359	185	1	a	a	DET
dad-13359	185	2	further	further	ADJ
dad-13359	185	3	example	example	NOUN
dad-13359	185	4	of	of	ADP
dad-13359	185	5	llms	llm	NOUN
dad-13359	185	6	integrated	integrate	VERB
dad-13359	185	7	in	in	ADP
dad-13359	185	8	hri	hri	PROPN
dad-13359	185	9	systems	system	NOUN
dad-13359	185	10	is	be	AUX
dad-13359	185	11	the	the	DET
dad-13359	185	12	llm	llm	NOUN
dad-13359	185	13	-	-	NOUN
dad-13359	185	14	planner	planner	NOUN
dad-13359	185	15	of	of	ADP
dad-13359	185	16	song	song	NOUN
dad-13359	185	17	et	et	PROPN
dad-13359	185	18	al	al	PROPN
dad-13359	185	19	.	.	PROPN
dad-13359	186	1	(	(	PUNCT
dad-13359	186	2	2022	2022	NUM
dad-13359	186	3	)	)	PUNCT
dad-13359	186	4	,	,	PUNCT
dad-13359	186	5	a	a	DET
dad-13359	186	6	few	few	ADJ
dad-13359	186	7	-	-	PUNCT
dad-13359	186	8	shot	shot	NOUN
dad-13359	186	9	system	system	NOUN
dad-13359	186	10	using	use	VERB
dad-13359	186	11	prompting	prompt	VERB
dad-13359	186	12	with	with	ADP
dad-13359	186	13	a	a	DET
dad-13359	186	14	gpt-3	gpt-3	NOUN
dad-13359	186	15	model	model	NOUN
dad-13359	186	16	as	as	ADP
dad-13359	186	17	a	a	DET
dad-13359	186	18	planner	planner	NOUN
dad-13359	186	19	for	for	ADP
dad-13359	186	20	an	an	DET
dad-13359	186	21	embodied	embodied	ADJ
dad-13359	186	22	agent	agent	NOUN
dad-13359	186	23	.	.	PUNCT
dad-13359	187	1	an	an	DET
dad-13359	187	2	approach	approach	NOUN
dad-13359	187	3	for	for	ADP
dad-13359	187	4	data	datum	NOUN
dad-13359	187	5	augmentation	augmentation	NOUN
dad-13359	187	6	by	by	ADP
dad-13359	187	7	grounding	ground	VERB
dad-13359	187	8	dialogue	dialogue	NOUN
dad-13359	187	9	responses	response	NOUN
dad-13359	187	10	in	in	ADP
dad-13359	187	11	text	text	NOUN
dad-13359	187	12	documents	document	NOUN
dad-13359	187	13	was	be	AUX
dad-13359	187	14	presented	present	VERB
dad-13359	187	15	by	by	ADP
dad-13359	187	16	wu	wu	PROPN
dad-13359	187	17	et	et	PROPN
dad-13359	187	18	al	al	PROPN
dad-13359	187	19	.	.	PROPN
dad-13359	188	1	(	(	PUNCT
dad-13359	188	2	2020	2020	NUM
dad-13359	188	3	)	)	PUNCT
dad-13359	188	4	.	.	PUNCT
dad-13359	189	1	this	this	DET
dad-13359	189	2	model	model	NOUN
dad-13359	189	3	used	use	VERB
dad-13359	189	4	two	two	NUM
dad-13359	189	5	dialogue	dialogue	NOUN
dad-13359	189	6	agents	agent	NOUN
dad-13359	189	7	to	to	PART
dad-13359	189	8	simulate	simulate	VERB
dad-13359	189	9	conversations	conversation	NOUN
dad-13359	189	10	across	across	ADP
dad-13359	189	11	different	different	ADJ
dad-13359	189	12	domains	domain	NOUN
dad-13359	189	13	represented	represent	VERB
dad-13359	189	14	by	by	ADP
dad-13359	189	15	sets	set	NOUN
dad-13359	189	16	of	of	ADP
dad-13359	189	17	documents	document	NOUN
dad-13359	189	18	.	.	PUNCT
dad-13359	190	1	lastly	lastly	ADV
dad-13359	190	2	,	,	PUNCT
dad-13359	190	3	a	a	DET
dad-13359	190	4	question	question	NOUN
dad-13359	190	5	answering	answering	NOUN
dad-13359	190	6	model	model	NOUN
dad-13359	190	7	which	which	PRON
dad-13359	190	8	stands	stand	VERB
dad-13359	190	9	quite	quite	ADV
dad-13359	190	10	close	close	ADJ
dad-13359	190	11	to	to	ADP
dad-13359	190	12	our	our	PRON
dad-13359	190	13	approach	approach	NOUN
dad-13359	190	14	was	be	AUX
dad-13359	190	15	presented	present	VERB
dad-13359	190	16	by	by	ADP
dad-13359	190	17	lanchantin	lanchantin	PROPN
dad-13359	190	18	et	et	PROPN
dad-13359	190	19	al	al	PROPN
dad-13359	190	20	.	.	PROPN
dad-13359	191	1	(	(	PUNCT
dad-13359	191	2	2023	2023	NUM
dad-13359	191	3	)	)	PUNCT
dad-13359	191	4	,	,	PUNCT
dad-13359	191	5	whose	whose	DET
dad-13359	191	6	model	model	NOUN
dad-13359	191	7	made	make	VERB
dad-13359	191	8	use	use	NOUN
dad-13359	191	9	of	of	ADP
dad-13359	191	10	a	a	DET
dad-13359	191	11	textformatted	textformatte	VERB
dad-13359	191	12	version	version	NOUN
dad-13359	191	13	of	of	ADP
dad-13359	191	14	a	a	DET
dad-13359	191	15	knowledge	knowledge	NOUN
dad-13359	191	16	graph	graph	NOUN
dad-13359	191	17	along	along	ADV
dad-13359	191	18	with	with	ADP
dad-13359	191	19	a	a	DET
dad-13359	191	20	transformer	transformer	NOUN
dad-13359	191	21	operating	operate	VERB
dad-13359	191	22	directly	directly	ADV
dad-13359	191	23	on	on	ADP
dad-13359	191	24	the	the	DET
dad-13359	191	25	graph	graph	NOUN
dad-13359	191	26	.	.	PUNCT
dad-13359	192	1	this	this	DET
dad-13359	192	2	model	model	NOUN
dad-13359	192	3	operated	operate	VERB
dad-13359	192	4	in	in	ADP
dad-13359	192	5	a	a	DET
dad-13359	192	6	simulated	simulated	ADJ
dad-13359	192	7	three	three	NUM
dad-13359	192	8	-	-	PUNCT
dad-13359	192	9	dimensional	dimensional	ADJ
dad-13359	192	10	space	space	NOUN
dad-13359	192	11	,	,	PUNCT
dad-13359	192	12	where	where	SCONJ
dad-13359	192	13	the	the	DET
dad-13359	192	14	queries	query	NOUN
dad-13359	192	15	directed	direct	VERB
dad-13359	192	16	to	to	ADP
dad-13359	192	17	the	the	DET
dad-13359	192	18	agent	agent	NOUN
dad-13359	192	19	related	relate	VERB
dad-13359	192	20	to	to	ADP
dad-13359	192	21	the	the	DET
dad-13359	192	22	spatio	spatio	PROPN
dad-13359	192	23	-	-	PUNCT
dad-13359	192	24	temporal	temporal	ADJ
dad-13359	192	25	information	information	NOUN
dad-13359	192	26	describing	describe	VERB
dad-13359	192	27	the	the	DET
dad-13359	192	28	user	user	NOUN
dad-13359	192	29	’s	’s	PART
dad-13359	192	30	position	position	NOUN
dad-13359	192	31	in	in	ADP
dad-13359	192	32	the	the	DET
dad-13359	192	33	simulated	simulated	ADJ
dad-13359	192	34	space	space	NOUN
dad-13359	192	35	.	.	PUNCT
dad-13359	193	1	this	this	DET
dad-13359	193	2	work	work	NOUN
dad-13359	193	3	did	do	AUX
dad-13359	193	4	not	not	PART
dad-13359	193	5	however	however	ADV
dad-13359	193	6	investigate	investigate	VERB
dad-13359	193	7	the	the	DET
dad-13359	193	8	use	use	NOUN
dad-13359	193	9	of	of	ADP
dad-13359	193	10	a	a	DET
dad-13359	193	11	natural	natural	ADJ
dad-13359	193	12	language	language	NOUN
dad-13359	193	13	transformation	transformation	NOUN
dad-13359	193	14	of	of	ADP
dad-13359	193	15	the	the	DET
dad-13359	193	16	graph	graph	NOUN
dad-13359	193	17	,	,	PUNCT
dad-13359	193	18	67	67	NUM
dad-13359	193	19	walker	walker	NOUN
dad-13359	193	20	,	,	PUNCT
dad-13359	193	21	ultes	ulte	NOUN
dad-13359	193	22	and	and	CCONJ
dad-13359	193	23	lison	lison	NOUN
dad-13359	193	24	relying	rely	VERB
dad-13359	193	25	instead	instead	ADV
dad-13359	193	26	on	on	ADP
dad-13359	193	27	a	a	DET
dad-13359	193	28	text	text	NOUN
dad-13359	193	29	document	document	NOUN
dad-13359	193	30	constructed	construct	VERB
dad-13359	193	31	of	of	ADP
dad-13359	193	32	structured	structured	ADJ
dad-13359	193	33	representations	representation	NOUN
dad-13359	193	34	of	of	ADP
dad-13359	193	35	graph	graph	NOUN
dad-13359	193	36	information	information	NOUN
dad-13359	193	37	in	in	ADP
dad-13359	193	38	a	a	DET
dad-13359	193	39	similar	similar	ADJ
dad-13359	193	40	manner	manner	NOUN
dad-13359	193	41	to	to	ADP
dad-13359	193	42	the	the	DET
dad-13359	193	43	semantic	semantic	ADJ
dad-13359	193	44	triples	triple	NOUN
dad-13359	193	45	model	model	NOUN
dad-13359	193	46	employed	employ	VERB
dad-13359	193	47	in	in	ADP
dad-13359	193	48	our	our	PRON
dad-13359	193	49	experiments	experiment	NOUN
dad-13359	193	50	.	.	PUNCT
dad-13359	194	1	additionally	additionally	ADV
dad-13359	194	2	,	,	PUNCT
dad-13359	194	3	this	this	DET
dad-13359	194	4	approach	approach	NOUN
dad-13359	194	5	relied	rely	VERB
dad-13359	194	6	upon	upon	SCONJ
dad-13359	194	7	the	the	DET
dad-13359	194	8	generation	generation	NOUN
dad-13359	194	9	of	of	ADP
dad-13359	194	10	simulated	simulated	ADJ
dad-13359	194	11	data	datum	NOUN
dad-13359	194	12	in	in	ADP
dad-13359	194	13	a	a	DET
dad-13359	194	14	virtual	virtual	ADJ
dad-13359	194	15	space	space	NOUN
dad-13359	194	16	,	,	PUNCT
dad-13359	194	17	whereas	whereas	SCONJ
dad-13359	194	18	we	we	PRON
dad-13359	194	19	investigate	investigate	VERB
dad-13359	194	20	the	the	DET
dad-13359	194	21	real	real	ADJ
dad-13359	194	22	-	-	PUNCT
dad-13359	194	23	time	time	NOUN
dad-13359	194	24	creation	creation	NOUN
dad-13359	194	25	of	of	ADP
dad-13359	194	26	graph	graph	NOUN
dad-13359	194	27	in	in	ADP
dad-13359	194	28	a	a	DET
dad-13359	194	29	physically	physically	ADV
dad-13359	194	30	situated	situate	VERB
dad-13359	194	31	hri	hri	PROPN
dad-13359	194	32	scenario	scenario	NOUN
dad-13359	194	33	.	.	PUNCT
dad-13359	195	1	3	3	X
dad-13359	195	2	.	.	X
dad-13359	195	3	approach	approach	NOUN
dad-13359	195	4	in	in	ADP
dad-13359	195	5	this	this	DET
dad-13359	195	6	section	section	NOUN
dad-13359	195	7	,	,	PUNCT
dad-13359	195	8	we	we	PRON
dad-13359	195	9	describe	describe	VERB
dad-13359	195	10	our	our	PRON
dad-13359	195	11	proposed	propose	VERB
dad-13359	195	12	approach	approach	NOUN
dad-13359	195	13	to	to	ADP
dad-13359	195	14	llm	llm	ADV
dad-13359	195	15	-	-	PUNCT
dad-13359	195	16	based	base	VERB
dad-13359	195	17	response	response	NOUN
dad-13359	195	18	generation	generation	NOUN
dad-13359	195	19	for	for	ADP
dad-13359	195	20	hri	hri	PROPN
dad-13359	195	21	.	.	PUNCT
dad-13359	196	1	our	our	PRON
dad-13359	196	2	proposed	propose	VERB
dad-13359	196	3	model	model	NOUN
dad-13359	196	4	revolves	revolve	VERB
dad-13359	196	5	around	around	ADP
dad-13359	196	6	a	a	DET
dad-13359	196	7	dynamic	dynamic	ADJ
dad-13359	196	8	knowledge	knowledge	NOUN
dad-13359	196	9	graph	graph	NOUN
dad-13359	196	10	that	that	PRON
dad-13359	196	11	represents	represent	VERB
dad-13359	196	12	both	both	DET
dad-13359	196	13	elements	element	NOUN
dad-13359	196	14	of	of	ADP
dad-13359	196	15	the	the	DET
dad-13359	196	16	environment	environment	NOUN
dad-13359	196	17	and	and	CCONJ
dad-13359	196	18	dialogue	dialogue	NOUN
dad-13359	196	19	utterances	utterance	NOUN
dad-13359	196	20	.	.	PUNCT
dad-13359	197	1	nodes	node	NOUN
dad-13359	197	2	and	and	CCONJ
dad-13359	197	3	edges	edge	NOUN
dad-13359	197	4	describing	describe	VERB
dad-13359	197	5	these	these	DET
dad-13359	197	6	elements	element	NOUN
dad-13359	197	7	are	be	AUX
dad-13359	197	8	iteratively	iteratively	ADV
dad-13359	197	9	added	add	VERB
dad-13359	197	10	as	as	SCONJ
dad-13359	197	11	new	new	ADJ
dad-13359	197	12	data	datum	NOUN
dad-13359	197	13	is	be	AUX
dad-13359	197	14	observed	observe	VERB
dad-13359	197	15	by	by	ADP
dad-13359	197	16	an	an	DET
dad-13359	197	17	agent	agent	NOUN
dad-13359	197	18	.	.	PUNCT
dad-13359	198	1	3.1	3.1	NUM
dad-13359	198	2	state	state	NOUN
dad-13359	198	3	representation	representation	NOUN
dad-13359	198	4	as	as	SCONJ
dad-13359	198	5	explored	explore	VERB
dad-13359	198	6	in	in	ADP
dad-13359	198	7	section	section	NOUN
dad-13359	198	8	2	2	NUM
dad-13359	198	9	,	,	PUNCT
dad-13359	198	10	embodied	embodied	ADJ
dad-13359	198	11	dialogue	dialogue	NOUN
dad-13359	198	12	agents	agent	NOUN
dad-13359	198	13	must	must	AUX
dad-13359	198	14	take	take	VERB
dad-13359	198	15	into	into	ADP
dad-13359	198	16	account	account	NOUN
dad-13359	198	17	diverse	diverse	ADJ
dad-13359	198	18	types	type	NOUN
dad-13359	198	19	of	of	ADP
dad-13359	198	20	information	information	NOUN
dad-13359	198	21	regarding	regard	VERB
dad-13359	198	22	the	the	DET
dad-13359	198	23	dialogue	dialogue	NOUN
dad-13359	198	24	as	as	ADV
dad-13359	198	25	well	well	ADV
dad-13359	198	26	as	as	ADP
dad-13359	198	27	the	the	DET
dad-13359	198	28	physical	physical	ADJ
dad-13359	198	29	environment	environment	NOUN
dad-13359	198	30	.	.	PUNCT
dad-13359	199	1	these	these	DET
dad-13359	199	2	aspects	aspect	NOUN
dad-13359	199	3	of	of	ADP
dad-13359	199	4	embodied	embodied	ADJ
dad-13359	199	5	dialogue	dialogue	NOUN
dad-13359	199	6	suggest	suggest	VERB
dad-13359	199	7	that	that	SCONJ
dad-13359	199	8	the	the	DET
dad-13359	199	9	flexibility	flexibility	NOUN
dad-13359	199	10	,	,	PUNCT
dad-13359	199	11	expressiveness	expressiveness	NOUN
dad-13359	199	12	,	,	PUNCT
dad-13359	199	13	and	and	CCONJ
dad-13359	199	14	semantic	semantic	ADJ
dad-13359	199	15	interpretability	interpretability	NOUN
dad-13359	199	16	of	of	ADP
dad-13359	199	17	graphs	graph	NOUN
dad-13359	199	18	are	be	AUX
dad-13359	199	19	effective	effective	ADJ
dad-13359	199	20	at	at	ADP
dad-13359	199	21	representing	represent	VERB
dad-13359	199	22	evolving	evolve	VERB
dad-13359	199	23	spatial	spatial	ADJ
dad-13359	199	24	,	,	PUNCT
dad-13359	199	25	temporal	temporal	ADJ
dad-13359	199	26	,	,	PUNCT
dad-13359	199	27	and	and	CCONJ
dad-13359	199	28	probabilistic	probabilistic	ADJ
dad-13359	199	29	information	information	NOUN
dad-13359	199	30	in	in	ADP
dad-13359	199	31	a	a	DET
dad-13359	199	32	single	single	ADJ
dad-13359	199	33	structure	structure	NOUN
dad-13359	199	34	.	.	PUNCT
dad-13359	200	1	for	for	ADP
dad-13359	200	2	these	these	DET
dad-13359	200	3	reasons	reason	NOUN
dad-13359	200	4	,	,	PUNCT
dad-13359	200	5	we	we	PRON
dad-13359	200	6	use	use	VERB
dad-13359	200	7	a	a	DET
dad-13359	200	8	dynamic	dynamic	ADJ
dad-13359	200	9	knowledge	knowledge	NOUN
dad-13359	200	10	graph	graph	NOUN
dad-13359	200	11	to	to	PART
dad-13359	200	12	represent	represent	VERB
dad-13359	200	13	the	the	DET
dad-13359	200	14	dialogue	dialogue	NOUN
dad-13359	200	15	state	state	NOUN
dad-13359	200	16	.	.	PUNCT
dad-13359	201	1	a	a	DET
dad-13359	201	2	dynamic	dynamic	ADJ
dad-13359	201	3	,	,	PUNCT
dad-13359	201	4	in	in	ADP
dad-13359	201	5	-	-	PUNCT
dad-13359	201	6	memory	memory	NOUN
dad-13359	201	7	knowledge	knowledge	NOUN
dad-13359	201	8	graph	graph	NOUN
dad-13359	201	9	permits	permit	VERB
dad-13359	201	10	continuous	continuous	ADJ
dad-13359	201	11	updates	update	NOUN
dad-13359	201	12	as	as	SCONJ
dad-13359	201	13	new	new	ADJ
dad-13359	201	14	information	information	NOUN
dad-13359	201	15	is	be	AUX
dad-13359	201	16	recorded	record	VERB
dad-13359	201	17	.	.	PUNCT
dad-13359	202	1	the	the	DET
dad-13359	202	2	nodes	node	NOUN
dad-13359	202	3	of	of	ADP
dad-13359	202	4	this	this	DET
dad-13359	202	5	graph	graph	NOUN
dad-13359	202	6	represent	represent	VERB
dad-13359	202	7	entities	entity	NOUN
dad-13359	202	8	,	,	PUNCT
dad-13359	202	9	in	in	ADP
dad-13359	202	10	the	the	DET
dad-13359	202	11	sense	sense	NOUN
dad-13359	202	12	of	of	ADP
dad-13359	202	13	distinct	distinct	ADJ
dad-13359	202	14	objects	object	NOUN
dad-13359	202	15	and	and	CCONJ
dad-13359	202	16	places	place	NOUN
dad-13359	202	17	in	in	ADP
dad-13359	202	18	the	the	DET
dad-13359	202	19	environments	environment	NOUN
dad-13359	202	20	,	,	PUNCT
dad-13359	202	21	as	as	ADV
dad-13359	202	22	well	well	ADV
dad-13359	202	23	as	as	ADP
dad-13359	202	24	natural	natural	ADJ
dad-13359	202	25	language	language	NOUN
dad-13359	202	26	utterances	utterance	NOUN
dad-13359	202	27	.	.	PUNCT
dad-13359	203	1	likewise	likewise	ADV
dad-13359	203	2	,	,	PUNCT
dad-13359	203	3	the	the	DET
dad-13359	203	4	edges	edge	NOUN
dad-13359	203	5	represent	represent	VERB
dad-13359	203	6	semantic	semantic	ADJ
dad-13359	203	7	relations	relation	NOUN
dad-13359	203	8	between	between	ADP
dad-13359	203	9	these	these	DET
dad-13359	203	10	entities	entity	NOUN
dad-13359	203	11	.	.	PUNCT
dad-13359	204	1	these	these	DET
dad-13359	204	2	relations	relation	NOUN
dad-13359	204	3	include	include	VERB
dad-13359	204	4	spatial	spatial	ADJ
dad-13359	204	5	or	or	CCONJ
dad-13359	204	6	temporal	temporal	ADJ
dad-13359	204	7	information	information	NOUN
dad-13359	204	8	which	which	PRON
dad-13359	204	9	may	may	AUX
dad-13359	204	10	be	be	AUX
dad-13359	204	11	updated	update	VERB
dad-13359	204	12	in	in	ADP
dad-13359	204	13	the	the	DET
dad-13359	204	14	course	course	NOUN
dad-13359	204	15	of	of	ADP
dad-13359	204	16	exploring	explore	VERB
dad-13359	204	17	an	an	DET
dad-13359	204	18	environment	environment	NOUN
dad-13359	204	19	.	.	PUNCT
dad-13359	205	1	temporality	temporality	NOUN
dad-13359	205	2	is	be	AUX
dad-13359	205	3	also	also	ADV
dad-13359	205	4	applicable	applicable	ADJ
dad-13359	205	5	to	to	ADP
dad-13359	205	6	utterances	utterance	NOUN
dad-13359	205	7	within	within	ADP
dad-13359	205	8	the	the	DET
dad-13359	205	9	dialogue	dialogue	NOUN
dad-13359	205	10	as	as	ADP
dad-13359	205	11	a	a	DET
dad-13359	205	12	chain	chain	NOUN
dad-13359	205	13	of	of	ADP
dad-13359	205	14	responses	response	NOUN
dad-13359	205	15	.	.	PUNCT
dad-13359	206	1	as	as	SCONJ
dad-13359	206	2	both	both	DET
dad-13359	206	3	dialogue	dialogue	NOUN
dad-13359	206	4	information	information	NOUN
dad-13359	206	5	and	and	CCONJ
dad-13359	206	6	situated	situated	ADJ
dad-13359	206	7	information	information	NOUN
dad-13359	206	8	from	from	ADP
dad-13359	206	9	the	the	DET
dad-13359	206	10	environment	environment	NOUN
dad-13359	206	11	are	be	AUX
dad-13359	206	12	represented	represent	VERB
dad-13359	206	13	within	within	ADP
dad-13359	206	14	the	the	DET
dad-13359	206	15	graph	graph	NOUN
dad-13359	206	16	,	,	PUNCT
dad-13359	206	17	a	a	DET
dad-13359	206	18	form	form	NOUN
dad-13359	206	19	of	of	ADP
dad-13359	206	20	“	"	PUNCT
dad-13359	206	21	grounding	grounding	NOUN
dad-13359	206	22	”	"	PUNCT
dad-13359	206	23	(	(	PUNCT
dad-13359	206	24	in	in	ADP
dad-13359	206	25	the	the	DET
dad-13359	206	26	sense	sense	NOUN
dad-13359	206	27	discussed	discuss	VERB
dad-13359	206	28	in	in	ADP
dad-13359	206	29	section	section	NOUN
dad-13359	206	30	2	2	NUM
dad-13359	206	31	)	)	PUNCT
dad-13359	206	32	of	of	ADP
dad-13359	206	33	the	the	DET
dad-13359	206	34	dialogue	dialogue	NOUN
dad-13359	206	35	in	in	ADP
dad-13359	206	36	the	the	DET
dad-13359	206	37	environment	environment	NOUN
dad-13359	206	38	is	be	AUX
dad-13359	206	39	equally	equally	ADV
dad-13359	206	40	possible	possible	ADJ
dad-13359	206	41	through	through	ADP
dad-13359	206	42	edges	edge	NOUN
dad-13359	206	43	between	between	ADP
dad-13359	206	44	utterances	utterance	NOUN
dad-13359	206	45	and	and	CCONJ
dad-13359	206	46	physical	physical	ADJ
dad-13359	206	47	objects	object	NOUN
dad-13359	206	48	.	.	PUNCT
dad-13359	207	1	in	in	ADP
dad-13359	207	2	this	this	DET
dad-13359	207	3	model	model	NOUN
dad-13359	207	4	,	,	PUNCT
dad-13359	207	5	nodes	node	NOUN
dad-13359	207	6	in	in	ADP
dad-13359	207	7	the	the	DET
dad-13359	207	8	graph	graph	NOUN
dad-13359	207	9	are	be	AUX
dad-13359	207	10	assigned	assign	VERB
dad-13359	207	11	a	a	DET
dad-13359	207	12	type	type	NOUN
dad-13359	207	13	label	label	NOUN
dad-13359	207	14	along	along	ADP
dad-13359	207	15	with	with	ADP
dad-13359	207	16	a	a	DET
dad-13359	207	17	content	content	NOUN
dad-13359	207	18	.	.	PUNCT
dad-13359	208	1	the	the	DET
dad-13359	208	2	type	type	NOUN
dad-13359	208	3	of	of	ADP
dad-13359	208	4	the	the	DET
dad-13359	208	5	node	node	NOUN
dad-13359	208	6	indicates	indicate	VERB
dad-13359	208	7	what	what	PRON
dad-13359	208	8	kind	kind	NOUN
dad-13359	208	9	of	of	ADP
dad-13359	208	10	conversational	conversational	ADJ
dad-13359	208	11	entity	entity	NOUN
dad-13359	208	12	the	the	DET
dad-13359	208	13	node	node	NOUN
dad-13359	208	14	represents	represent	VERB
dad-13359	208	15	,	,	PUNCT
dad-13359	208	16	such	such	ADJ
dad-13359	208	17	as	as	ADP
dad-13359	208	18	an	an	DET
dad-13359	208	19	utterance	utterance	NOUN
dad-13359	208	20	or	or	CCONJ
dad-13359	208	21	a	a	DET
dad-13359	208	22	physical	physical	ADJ
dad-13359	208	23	object	object	NOUN
dad-13359	208	24	.	.	PUNCT
dad-13359	209	1	edges	edge	NOUN
dad-13359	209	2	in	in	ADP
dad-13359	209	3	the	the	DET
dad-13359	209	4	graph	graph	NOUN
dad-13359	209	5	represent	represent	VERB
dad-13359	209	6	semantic	semantic	ADJ
dad-13359	209	7	relations	relation	NOUN
dad-13359	209	8	between	between	ADP
dad-13359	209	9	the	the	DET
dad-13359	209	10	nodes	node	NOUN
dad-13359	209	11	of	of	ADP
dad-13359	209	12	objects	object	NOUN
dad-13359	209	13	,	,	PUNCT
dad-13359	209	14	such	such	ADJ
dad-13359	209	15	as	as	ADP
dad-13359	209	16	physical	physical	ADJ
dad-13359	209	17	location	location	NOUN
dad-13359	209	18	,	,	PUNCT
dad-13359	209	19	origination	origination	NOUN
dad-13359	209	20	,	,	PUNCT
dad-13359	209	21	or	or	CCONJ
dad-13359	209	22	in	in	ADP
dad-13359	209	23	the	the	DET
dad-13359	209	24	case	case	NOUN
dad-13359	209	25	of	of	ADP
dad-13359	209	26	utterances	utterance	NOUN
dad-13359	209	27	a	a	DET
dad-13359	209	28	temporal	temporal	ADJ
dad-13359	209	29	ordering	ordering	NOUN
dad-13359	209	30	.	.	PUNCT
dad-13359	210	1	to	to	PART
dad-13359	210	2	illustrate	illustrate	VERB
dad-13359	210	3	situated	situated	ADJ
dad-13359	210	4	information	information	NOUN
dad-13359	210	5	in	in	ADP
dad-13359	210	6	a	a	DET
dad-13359	210	7	graph	graph	NOUN
dad-13359	210	8	,	,	PUNCT
dad-13359	210	9	the	the	DET
dad-13359	210	10	node	node	NOUN
dad-13359	210	11	representing	represent	VERB
dad-13359	210	12	a	a	DET
dad-13359	210	13	laptop	laptop	NOUN
dad-13359	210	14	in	in	ADP
dad-13359	210	15	figure	figure	NOUN
dad-13359	210	16	2	2	NUM
dad-13359	210	17	has	have	VERB
dad-13359	210	18	a	a	DET
dad-13359	210	19	description	description	NOUN
dad-13359	210	20	of	of	ADP
dad-13359	210	21	“	"	PUNCT
dad-13359	210	22	laptop	laptop	NOUN
dad-13359	210	23	”	"	PUNCT
dad-13359	210	24	along	along	ADP
dad-13359	210	25	with	with	ADP
dad-13359	210	26	the	the	DET
dad-13359	210	27	type	type	NOUN
dad-13359	210	28	label	label	NOUN
dad-13359	210	29	“	"	PUNCT
dad-13359	210	30	entity	entity	NOUN
dad-13359	210	31	”	"	PUNCT
dad-13359	210	32	.	.	PUNCT
dad-13359	211	1	the	the	DET
dad-13359	211	2	laptop	laptop	NOUN
dad-13359	211	3	is	be	AUX
dad-13359	211	4	likewise	likewise	ADV
dad-13359	211	5	related	relate	VERB
dad-13359	211	6	with	with	ADP
dad-13359	211	7	an	an	DET
dad-13359	211	8	“	"	PUNCT
dad-13359	211	9	in	in	ADP
dad-13359	211	10	”	"	PUNCT
dad-13359	211	11	relation	relation	NOUN
dad-13359	211	12	to	to	ADP
dad-13359	211	13	an	an	DET
dad-13359	211	14	image	image	NOUN
dad-13359	211	15	data	data	NOUN
dad-13359	211	16	node	node	NOUN
dad-13359	211	17	carrying	carry	VERB
dad-13359	211	18	the	the	DET
dad-13359	211	19	type	type	NOUN
dad-13359	211	20	label	label	NOUN
dad-13359	211	21	“	"	PUNCT
dad-13359	211	22	image	image	NOUN
dad-13359	211	23	”	"	PUNCT
dad-13359	211	24	,	,	PUNCT
dad-13359	211	25	where	where	SCONJ
dad-13359	211	26	binary	binary	ADJ
dad-13359	211	27	data	datum	NOUN
dad-13359	211	28	of	of	ADP
dad-13359	211	29	the	the	DET
dad-13359	211	30	image	image	NOUN
dad-13359	211	31	itself	itself	PRON
dad-13359	211	32	is	be	AUX
dad-13359	211	33	stored	store	VERB
dad-13359	211	34	.	.	PUNCT
dad-13359	212	1	in	in	ADP
dad-13359	212	2	turn	turn	NOUN
dad-13359	212	3	,	,	PUNCT
dad-13359	212	4	the	the	DET
dad-13359	212	5	image	image	NOUN
dad-13359	212	6	node	node	NOUN
dad-13359	212	7	relates	relate	VERB
dad-13359	212	8	to	to	ADP
dad-13359	212	9	a	a	DET
dad-13359	212	10	“	"	PUNCT
dad-13359	212	11	location	location	NOUN
dad-13359	212	12	”	"	PUNCT
dad-13359	212	13	node	node	NOUN
dad-13359	212	14	named	name	VERB
dad-13359	212	15	“	"	PUNCT
dad-13359	212	16	office	office	NOUN
dad-13359	212	17	”	"	PUNCT
dad-13359	212	18	,	,	PUNCT
dad-13359	212	19	indicating	indicate	VERB
dad-13359	212	20	that	that	SCONJ
dad-13359	212	21	the	the	DET
dad-13359	212	22	picture	picture	NOUN
dad-13359	212	23	was	be	AUX
dad-13359	212	24	taken	take	VERB
dad-13359	212	25	in	in	ADP
dad-13359	212	26	the	the	DET
dad-13359	212	27	location	location	NOUN
dad-13359	212	28	labelled	label	VERB
dad-13359	212	29	“	"	PUNCT
dad-13359	212	30	office	office	NOUN
dad-13359	212	31	”	"	PUNCT
dad-13359	212	32	.	.	PUNCT
dad-13359	213	1	plainly	plainly	ADV
dad-13359	213	2	stated	state	VERB
dad-13359	213	3	,	,	PUNCT
dad-13359	213	4	this	this	DET
dad-13359	213	5	graph	graph	NOUN
dad-13359	213	6	structure	structure	NOUN
dad-13359	213	7	describes	describe	VERB
dad-13359	213	8	the	the	DET
dad-13359	213	9	fact	fact	NOUN
dad-13359	213	10	that	that	SCONJ
dad-13359	213	11	a	a	DET
dad-13359	213	12	laptop	laptop	NOUN
dad-13359	213	13	computer	computer	NOUN
dad-13359	213	14	was	be	AUX
dad-13359	213	15	seen	see	VERB
dad-13359	213	16	in	in	ADP
dad-13359	213	17	an	an	DET
dad-13359	213	18	image	image	NOUN
dad-13359	213	19	taken	take	VERB
dad-13359	213	20	in	in	ADP
dad-13359	213	21	an	an	DET
dad-13359	213	22	office	office	NOUN
dad-13359	213	23	.	.	PUNCT
dad-13359	214	1	nodes	node	NOUN
dad-13359	214	2	and	and	CCONJ
dad-13359	214	3	edges	edge	NOUN
dad-13359	214	4	are	be	AUX
dad-13359	214	5	also	also	ADV
dad-13359	214	6	assigned	assign	VERB
dad-13359	214	7	a	a	DET
dad-13359	214	8	probability	probability	NOUN
dad-13359	214	9	.	.	PUNCT
dad-13359	215	1	the	the	DET
dad-13359	215	2	assignment	assignment	NOUN
dad-13359	215	3	of	of	ADP
dad-13359	215	4	a	a	DET
dad-13359	215	5	probability	probability	NOUN
dad-13359	215	6	value	value	NOUN
dad-13359	215	7	to	to	ADP
dad-13359	215	8	a	a	DET
dad-13359	215	9	node	node	NOUN
dad-13359	215	10	allows	allow	VERB
dad-13359	215	11	for	for	ADP
dad-13359	215	12	the	the	DET
dad-13359	215	13	expression	expression	NOUN
dad-13359	215	14	of	of	ADP
dad-13359	215	15	uncertainty	uncertainty	NOUN
dad-13359	215	16	arising	arise	VERB
dad-13359	215	17	from	from	ADP
dad-13359	215	18	sensory	sensory	ADJ
dad-13359	215	19	data	datum	NOUN
dad-13359	215	20	.	.	PUNCT
dad-13359	216	1	this	this	PRON
dad-13359	216	2	is	be	AUX
dad-13359	216	3	notably	notably	ADV
dad-13359	216	4	the	the	DET
dad-13359	216	5	case	case	NOUN
dad-13359	216	6	for	for	ADP
dad-13359	216	7	visual	visual	ADJ
dad-13359	216	8	elements	element	NOUN
dad-13359	216	9	detected	detect	VERB
dad-13359	216	10	in	in	ADP
dad-13359	216	11	the	the	DET
dad-13359	216	12	images	image	NOUN
dad-13359	216	13	captured	capture	VERB
dad-13359	216	14	by	by	ADP
dad-13359	216	15	the	the	DET
dad-13359	216	16	agent	agent	NOUN
dad-13359	216	17	,	,	PUNCT
dad-13359	216	18	or	or	CCONJ
dad-13359	216	19	for	for	ADP
dad-13359	216	20	alternative	alternative	ADJ
dad-13359	216	21	transcriptions	transcription	NOUN
dad-13359	216	22	produced	produce	VERB
dad-13359	216	23	by	by	ADP
dad-13359	216	24	the	the	DET
dad-13359	216	25	asr	asr	PROPN
dad-13359	216	26	model	model	NOUN
dad-13359	216	27	.	.	PUNCT
dad-13359	217	1	in	in	ADP
dad-13359	217	2	general	general	ADJ
dad-13359	217	3	,	,	PUNCT
dad-13359	217	4	regardless	regardless	ADV
dad-13359	217	5	of	of	ADP
dad-13359	217	6	the	the	DET
dad-13359	217	7	source	source	NOUN
dad-13359	217	8	or	or	CCONJ
dad-13359	217	9	type	type	NOUN
dad-13359	217	10	of	of	ADP
dad-13359	217	11	information	information	NOUN
dad-13359	217	12	represented	represent	VERB
dad-13359	217	13	in	in	ADP
dad-13359	217	14	a	a	DET
dad-13359	217	15	node	node	NOUN
dad-13359	217	16	,	,	PUNCT
dad-13359	217	17	uncertainty	uncertainty	NOUN
dad-13359	217	18	in	in	ADP
dad-13359	217	19	the	the	DET
dad-13359	217	20	data	datum	NOUN
dad-13359	217	21	can	can	AUX
dad-13359	217	22	be	be	AUX
dad-13359	217	23	expressed	express	VERB
dad-13359	217	24	as	as	ADP
dad-13359	217	25	an	an	DET
dad-13359	217	26	attribute	attribute	NOUN
dad-13359	217	27	of	of	ADP
dad-13359	217	28	the	the	DET
dad-13359	217	29	node	node	NOUN
dad-13359	217	30	.	.	PUNCT
dad-13359	218	1	likewise	likewise	ADV
dad-13359	218	2	,	,	PUNCT
dad-13359	218	3	edges	edge	NOUN
dad-13359	218	4	can	can	AUX
dad-13359	218	5	also	also	ADV
dad-13359	218	6	be	be	AUX
dad-13359	218	7	assigned	assign	VERB
dad-13359	218	8	to	to	ADP
dad-13359	218	9	a	a	DET
dad-13359	218	10	probability	probability	NOUN
dad-13359	218	11	.	.	PUNCT
dad-13359	219	1	a	a	DET
dad-13359	219	2	further	further	ADJ
dad-13359	219	3	property	property	NOUN
dad-13359	219	4	of	of	ADP
dad-13359	219	5	nodes	node	NOUN
dad-13359	219	6	is	be	AUX
dad-13359	219	7	a	a	DET
dad-13359	219	8	timestamp	timestamp	NOUN
dad-13359	219	9	.	.	PUNCT
dad-13359	220	1	this	this	DET
dad-13359	220	2	attribute	attribute	NOUN
dad-13359	220	3	makes	make	VERB
dad-13359	220	4	it	it	PRON
dad-13359	220	5	possible	possible	ADJ
dad-13359	220	6	to	to	PART
dad-13359	220	7	account	account	VERB
dad-13359	220	8	for	for	ADP
dad-13359	220	9	temporality	temporality	NOUN
dad-13359	220	10	in	in	ADP
dad-13359	220	11	the	the	DET
dad-13359	220	12	data	datum	NOUN
dad-13359	220	13	.	.	PUNCT
dad-13359	221	1	every	every	DET
dad-13359	221	2	node	node	NOUN
dad-13359	221	3	in	in	ADP
dad-13359	221	4	our	our	PRON
dad-13359	221	5	model	model	NOUN
dad-13359	221	6	is	be	AUX
dad-13359	221	7	assigned	assign	VERB
dad-13359	221	8	a	a	DET
dad-13359	221	9	timestamp	timestamp	NOUN
dad-13359	221	10	representing	represent	VERB
dad-13359	221	11	its	its	PRON
dad-13359	221	12	creation	creation	NOUN
dad-13359	221	13	68	68	NUM
dad-13359	221	14	a	a	DET
dad-13359	221	15	graph	graph	NOUN
dad-13359	221	16	-	-	PUNCT
dad-13359	221	17	to	to	ADP
dad-13359	221	18	-	-	PUNCT
dad-13359	221	19	text	text	NOUN
dad-13359	221	20	approach	approach	NOUN
dad-13359	221	21	to	to	ADP
dad-13359	221	22	knowledge	knowledge	NOUN
dad-13359	221	23	-	-	PUNCT
dad-13359	221	24	grounded	ground	VERB
dad-13359	221	25	response	response	NOUN
dad-13359	221	26	generation	generation	NOUN
dad-13359	221	27	in	in	ADP
dad-13359	221	28	hri	hri	PROPN
dad-13359	221	29	figure	figure	NOUN
dad-13359	221	30	2	2	NUM
dad-13359	221	31	:	:	PUNCT
dad-13359	221	32	example	example	NOUN
dad-13359	221	33	of	of	ADP
dad-13359	221	34	subgraph	subgraph	NOUN
dad-13359	221	35	where	where	SCONJ
dad-13359	221	36	an	an	DET
dad-13359	221	37	image	image	NOUN
dad-13359	221	38	is	be	AUX
dad-13359	221	39	assigned	assign	VERB
dad-13359	221	40	a	a	DET
dad-13359	221	41	location	location	NOUN
dad-13359	221	42	,	,	PUNCT
dad-13359	221	43	and	and	CCONJ
dad-13359	221	44	a	a	DET
dad-13359	221	45	“	"	PUNCT
dad-13359	221	46	laptop	laptop	NOUN
dad-13359	221	47	”	"	PUNCT
dad-13359	221	48	entity	entity	NOUN
dad-13359	221	49	detected	detect	VERB
dad-13359	221	50	in	in	ADP
dad-13359	221	51	the	the	DET
dad-13359	221	52	image	image	NOUN
dad-13359	221	53	data	datum	NOUN
dad-13359	221	54	is	be	AUX
dad-13359	221	55	created	create	VERB
dad-13359	221	56	as	as	ADP
dad-13359	221	57	a	a	DET
dad-13359	221	58	node	node	NOUN
dad-13359	221	59	with	with	ADP
dad-13359	221	60	an	an	DET
dad-13359	221	61	“	"	PUNCT
dad-13359	221	62	in	in	ADP
dad-13359	221	63	”	"	PUNCT
dad-13359	221	64	relation	relation	NOUN
dad-13359	221	65	to	to	ADP
dad-13359	221	66	the	the	DET
dad-13359	221	67	image	image	NOUN
dad-13359	221	68	.	.	PUNCT
dad-13359	222	1	time	time	NOUN
dad-13359	222	2	in	in	ADP
dad-13359	222	3	the	the	DET
dad-13359	222	4	graph	graph	NOUN
dad-13359	222	5	.	.	PUNCT
dad-13359	223	1	a	a	DET
dad-13359	223	2	second	second	ADJ
dad-13359	223	3	timestamp	timestamp	NOUN
dad-13359	223	4	representing	represent	VERB
dad-13359	223	5	the	the	DET
dad-13359	223	6	creation	creation	NOUN
dad-13359	223	7	time	time	NOUN
dad-13359	223	8	of	of	ADP
dad-13359	223	9	the	the	DET
dad-13359	223	10	information	information	NOUN
dad-13359	223	11	is	be	AUX
dad-13359	223	12	also	also	ADV
dad-13359	223	13	assigned	assign	VERB
dad-13359	223	14	to	to	ADP
dad-13359	223	15	the	the	DET
dad-13359	223	16	node	node	ADJ
dad-13359	223	17	metadata	metadata	NOUN
dad-13359	223	18	.	.	PUNCT
dad-13359	224	1	this	this	DET
dad-13359	224	2	timestamp	timestamp	NOUN
dad-13359	224	3	is	be	AUX
dad-13359	224	4	the	the	DET
dad-13359	224	5	time	time	NOUN
dad-13359	224	6	the	the	DET
dad-13359	224	7	information	information	NOUN
dad-13359	224	8	was	be	AUX
dad-13359	224	9	recorded	record	VERB
dad-13359	224	10	by	by	ADP
dad-13359	224	11	an	an	DET
dad-13359	224	12	external	external	ADJ
dad-13359	224	13	module	module	NOUN
dad-13359	224	14	such	such	ADJ
dad-13359	224	15	as	as	ADP
dad-13359	224	16	robot	robot	NOUN
dad-13359	224	17	sensors	sensor	NOUN
dad-13359	224	18	.	.	PUNCT
dad-13359	225	1	the	the	DET
dad-13359	225	2	difference	difference	NOUN
dad-13359	225	3	between	between	ADP
dad-13359	225	4	the	the	DET
dad-13359	225	5	two	two	NUM
dad-13359	225	6	timestamps	timestamp	NOUN
dad-13359	225	7	is	be	AUX
dad-13359	225	8	often	often	ADV
dad-13359	225	9	small	small	ADJ
dad-13359	225	10	,	,	PUNCT
dad-13359	225	11	nevertheless	nevertheless	ADV
dad-13359	225	12	separate	separate	VERB
dad-13359	225	13	representations	representation	NOUN
dad-13359	225	14	allow	allow	VERB
dad-13359	225	15	precise	precise	ADJ
dad-13359	225	16	measurement	measurement	NOUN
dad-13359	225	17	of	of	ADP
dad-13359	225	18	any	any	DET
dad-13359	225	19	latency	latency	NOUN
dad-13359	225	20	or	or	CCONJ
dad-13359	225	21	reference	reference	NOUN
dad-13359	225	22	to	to	PART
dad-13359	225	23	exact	exact	ADJ
dad-13359	225	24	occurrences	occurrence	NOUN
dad-13359	225	25	in	in	ADP
dad-13359	225	26	physical	physical	ADJ
dad-13359	225	27	space	space	NOUN
dad-13359	225	28	as	as	SCONJ
dad-13359	225	29	opposed	oppose	VERB
dad-13359	225	30	to	to	PART
dad-13359	225	31	graph	graph	VERB
dad-13359	225	32	update	update	NOUN
dad-13359	225	33	time	time	NOUN
dad-13359	225	34	.	.	PUNCT
dad-13359	226	1	3.2	3.2	NUM
dad-13359	226	2	state	state	NOUN
dad-13359	226	3	tracking	tracking	NOUN
dad-13359	226	4	&	&	CCONJ
dad-13359	226	5	postprocessing	postprocesse	VERB
dad-13359	226	6	3.2.1	3.2.1	NUM
dad-13359	226	7	graph	graph	NOUN
dad-13359	226	8	updates	update	VERB
dad-13359	226	9	dialogue	dialogue	NOUN
dad-13359	226	10	state	state	NOUN
dad-13359	226	11	tracking	tracking	NOUN
dad-13359	226	12	(	(	PUNCT
dad-13359	226	13	williams	williams	PROPN
dad-13359	226	14	et	et	PROPN
dad-13359	226	15	al	al	PROPN
dad-13359	226	16	.	.	PROPN
dad-13359	226	17	,	,	PUNCT
dad-13359	226	18	2016	2016	NUM
dad-13359	226	19	;	;	PUNCT
dad-13359	226	20	ren	ren	PROPN
dad-13359	226	21	et	et	PROPN
dad-13359	226	22	al	al	PROPN
dad-13359	226	23	.	.	PROPN
dad-13359	226	24	,	,	PUNCT
dad-13359	226	25	2018	2018	NUM
dad-13359	226	26	)	)	PUNCT
dad-13359	226	27	is	be	AUX
dad-13359	226	28	often	often	ADV
dad-13359	226	29	viewed	view	VERB
dad-13359	226	30	in	in	ADP
dad-13359	226	31	the	the	DET
dad-13359	226	32	form	form	NOUN
dad-13359	226	33	of	of	ADP
dad-13359	226	34	a	a	DET
dad-13359	226	35	“	"	PUNCT
dad-13359	226	36	slot	slot	NOUN
dad-13359	226	37	-	-	PUNCT
dad-13359	226	38	filling	filling	NOUN
dad-13359	226	39	”	"	PUNCT
dad-13359	226	40	paradigm	paradigm	NOUN
dad-13359	226	41	,	,	PUNCT
dad-13359	226	42	wherein	wherein	SCONJ
dad-13359	226	43	slots	slot	NOUN
dad-13359	226	44	of	of	ADP
dad-13359	226	45	a	a	DET
dad-13359	226	46	defined	define	VERB
dad-13359	226	47	ontology	ontology	NOUN
dad-13359	226	48	are	be	AUX
dad-13359	226	49	filled	fill	VERB
dad-13359	226	50	by	by	ADP
dad-13359	226	51	a	a	DET
dad-13359	226	52	predictive	predictive	ADJ
dad-13359	226	53	model	model	NOUN
dad-13359	226	54	.	.	PUNCT
dad-13359	227	1	here	here	ADV
dad-13359	227	2	,	,	PUNCT
dad-13359	227	3	we	we	PRON
dad-13359	227	4	conceive	conceive	VERB
dad-13359	227	5	of	of	ADP
dad-13359	227	6	state	state	NOUN
dad-13359	227	7	-	-	PUNCT
dad-13359	227	8	tracking	tracking	NOUN
dad-13359	227	9	as	as	ADP
dad-13359	227	10	the	the	DET
dad-13359	227	11	management	management	NOUN
dad-13359	227	12	of	of	ADP
dad-13359	227	13	the	the	DET
dad-13359	227	14	conversational	conversational	ADJ
dad-13359	227	15	knowledge	knowledge	NOUN
dad-13359	227	16	graph	graph	NOUN
dad-13359	227	17	.	.	PUNCT
dad-13359	228	1	as	as	SCONJ
dad-13359	228	2	the	the	DET
dad-13359	228	3	knowledge	knowledge	NOUN
dad-13359	228	4	graph	graph	NOUN
dad-13359	228	5	is	be	AUX
dad-13359	228	6	comparatively	comparatively	ADV
dad-13359	228	7	small	small	ADJ
dad-13359	228	8	,	,	PUNCT
dad-13359	228	9	it	it	PRON
dad-13359	228	10	is	be	AUX
dad-13359	228	11	stored	store	VERB
dad-13359	228	12	in	in	ADP
dad-13359	228	13	-	-	PUNCT
dad-13359	228	14	memory	memory	NOUN
dad-13359	228	15	and	and	CCONJ
dad-13359	228	16	directly	directly	ADV
dad-13359	228	17	updated	update	VERB
dad-13359	228	18	through	through	ADP
dad-13359	228	19	python	python	NOUN
dad-13359	228	20	operations	operation	NOUN
dad-13359	228	21	.	.	PUNCT
dad-13359	229	1	because	because	SCONJ
dad-13359	229	2	the	the	DET
dad-13359	229	3	knowledge	knowledge	NOUN
dad-13359	229	4	graph	graph	NOUN
dad-13359	229	5	is	be	AUX
dad-13359	229	6	dynamic	dynamic	ADJ
dad-13359	229	7	,	,	PUNCT
dad-13359	229	8	new	new	ADJ
dad-13359	229	9	nodes	node	NOUN
dad-13359	229	10	representing	represent	VERB
dad-13359	229	11	spatial	spatial	ADJ
dad-13359	229	12	positions	position	NOUN
dad-13359	229	13	,	,	PUNCT
dad-13359	229	14	images	image	NOUN
dad-13359	229	15	,	,	PUNCT
dad-13359	229	16	and	and	CCONJ
dad-13359	229	17	entities	entity	NOUN
dad-13359	229	18	seen	see	VERB
dad-13359	229	19	during	during	ADP
dad-13359	229	20	the	the	DET
dad-13359	229	21	embodied	embodied	ADJ
dad-13359	229	22	agent	agent	NOUN
dad-13359	229	23	’s	’s	PART
dad-13359	229	24	movement	movement	NOUN
dad-13359	229	25	are	be	AUX
dad-13359	229	26	added	add	VERB
dad-13359	229	27	to	to	ADP
dad-13359	229	28	the	the	DET
dad-13359	229	29	state	state	NOUN
dad-13359	229	30	.	.	PUNCT
dad-13359	230	1	this	this	PRON
dad-13359	230	2	is	be	AUX
dad-13359	230	3	a	a	DET
dad-13359	230	4	constant	constant	ADJ
dad-13359	230	5	stream	stream	NOUN
dad-13359	230	6	of	of	ADP
dad-13359	230	7	information	information	NOUN
dad-13359	230	8	that	that	PRON
dad-13359	230	9	updates	update	VERB
dad-13359	230	10	the	the	DET
dad-13359	230	11	dialogue	dialogue	NOUN
dad-13359	230	12	state	state	NOUN
dad-13359	230	13	as	as	ADV
dad-13359	230	14	soon	soon	ADV
dad-13359	230	15	as	as	SCONJ
dad-13359	230	16	new	new	ADJ
dad-13359	230	17	information	information	NOUN
dad-13359	230	18	is	be	AUX
dad-13359	230	19	obtained	obtain	VERB
dad-13359	230	20	.	.	PUNCT
dad-13359	231	1	thus	thus	ADV
dad-13359	231	2	,	,	PUNCT
dad-13359	231	3	spatial	spatial	ADJ
dad-13359	231	4	coordinates	coordinate	NOUN
dad-13359	231	5	and	and	CCONJ
dad-13359	231	6	visual	visual	ADJ
dad-13359	231	7	information	information	NOUN
dad-13359	231	8	can	can	AUX
dad-13359	231	9	be	be	AUX
dad-13359	231	10	continuously	continuously	ADV
dad-13359	231	11	added	add	VERB
dad-13359	231	12	as	as	ADP
dad-13359	231	13	nodes	node	NOUN
dad-13359	231	14	to	to	ADP
dad-13359	231	15	the	the	DET
dad-13359	231	16	graph	graph	NOUN
dad-13359	231	17	while	while	SCONJ
dad-13359	231	18	an	an	DET
dad-13359	231	19	embodied	embodied	ADJ
dad-13359	231	20	agent	agent	NOUN
dad-13359	231	21	traverses	traverse	NOUN
dad-13359	231	22	physical	physical	ADJ
dad-13359	231	23	space	space	NOUN
dad-13359	231	24	.	.	PUNCT
dad-13359	232	1	equally	equally	ADV
dad-13359	232	2	,	,	PUNCT
dad-13359	232	3	language	language	NOUN
dad-13359	232	4	input	input	NOUN
dad-13359	232	5	is	be	AUX
dad-13359	232	6	added	add	VERB
dad-13359	232	7	to	to	ADP
dad-13359	232	8	the	the	DET
dad-13359	232	9	graph	graph	NOUN
dad-13359	232	10	as	as	SCONJ
dad-13359	232	11	it	it	PRON
dad-13359	232	12	is	be	AUX
dad-13359	232	13	received	receive	VERB
dad-13359	232	14	,	,	PUNCT
dad-13359	232	15	whether	whether	SCONJ
dad-13359	232	16	concurrently	concurrently	ADV
dad-13359	232	17	with	with	ADP
dad-13359	232	18	agent	agent	NOUN
dad-13359	232	19	movement	movement	NOUN
dad-13359	232	20	or	or	CCONJ
dad-13359	232	21	not	not	PART
dad-13359	232	22	.	.	PUNCT
dad-13359	233	1	this	this	DET
dad-13359	233	2	flexibility	flexibility	NOUN
dad-13359	233	3	is	be	AUX
dad-13359	233	4	an	an	DET
dad-13359	233	5	advantage	advantage	NOUN
dad-13359	233	6	for	for	SCONJ
dad-13359	233	7	an	an	DET
dad-13359	233	8	embodied	embodied	ADJ
dad-13359	233	9	agent	agent	NOUN
dad-13359	233	10	to	to	PART
dad-13359	233	11	allow	allow	VERB
dad-13359	233	12	it	it	PRON
dad-13359	233	13	to	to	PART
dad-13359	233	14	attend	attend	VERB
dad-13359	233	15	to	to	ADP
dad-13359	233	16	numerous	numerous	ADJ
dad-13359	233	17	,	,	PUNCT
dad-13359	233	18	diverse	diverse	ADJ
dad-13359	233	19	sources	source	NOUN
dad-13359	233	20	of	of	ADP
dad-13359	233	21	information	information	NOUN
dad-13359	233	22	simultaneously	simultaneously	ADV
dad-13359	233	23	while	while	SCONJ
dad-13359	233	24	also	also	ADV
dad-13359	233	25	taking	take	VERB
dad-13359	233	26	into	into	ADP
dad-13359	233	27	account	account	NOUN
dad-13359	233	28	interactions	interaction	NOUN
dad-13359	233	29	between	between	ADP
dad-13359	233	30	them	they	PRON
dad-13359	233	31	.	.	PUNCT
dad-13359	234	1	we	we	PRON
dad-13359	234	2	rely	rely	VERB
dad-13359	234	3	on	on	ADP
dad-13359	234	4	a	a	DET
dad-13359	234	5	dedicated	dedicated	ADJ
dad-13359	234	6	management	management	NOUN
dad-13359	234	7	module	module	NOUN
dad-13359	234	8	that	that	PRON
dad-13359	234	9	serves	serve	VERB
dad-13359	234	10	as	as	ADP
dad-13359	234	11	a	a	DET
dad-13359	234	12	central	central	ADJ
dad-13359	234	13	point	point	NOUN
dad-13359	234	14	of	of	ADP
dad-13359	234	15	access	access	NOUN
dad-13359	234	16	for	for	ADP
dad-13359	234	17	all	all	DET
dad-13359	234	18	updates	update	NOUN
dad-13359	234	19	to	to	ADP
dad-13359	234	20	the	the	DET
dad-13359	234	21	graph	graph	NOUN
dad-13359	234	22	.	.	PUNCT
dad-13359	235	1	upon	upon	SCONJ
dad-13359	235	2	each	each	DET
dad-13359	235	3	update	update	NOUN
dad-13359	235	4	,	,	PUNCT
dad-13359	235	5	the	the	DET
dad-13359	235	6	management	management	NOUN
dad-13359	235	7	module	module	NOUN
dad-13359	235	8	triggers	trigger	VERB
dad-13359	235	9	all	all	DET
dad-13359	235	10	system	system	NOUN
dad-13359	235	11	modules	module	NOUN
dad-13359	235	12	that	that	PRON
dad-13359	235	13	should	should	AUX
dad-13359	235	14	be	be	AUX
dad-13359	235	15	notified	notify	VERB
dad-13359	235	16	of	of	ADP
dad-13359	235	17	this	this	DET
dad-13359	235	18	change	change	NOUN
dad-13359	235	19	.	.	PUNCT
dad-13359	236	1	those	those	DET
dad-13359	236	2	modules	module	NOUN
dad-13359	236	3	may	may	AUX
dad-13359	236	4	in	in	ADP
dad-13359	236	5	turn	turn	NOUN
dad-13359	236	6	lead	lead	VERB
dad-13359	236	7	to	to	ADP
dad-13359	236	8	new	new	ADJ
dad-13359	236	9	graph	graph	NOUN
dad-13359	236	10	updates	update	NOUN
dad-13359	236	11	,	,	PUNCT
dad-13359	236	12	thereby	thereby	ADV
dad-13359	236	13	creating	create	VERB
dad-13359	236	14	a	a	DET
dad-13359	236	15	cascading	cascade	VERB
dad-13359	236	16	transformation	transformation	NOUN
dad-13359	236	17	to	to	ADP
dad-13359	236	18	the	the	DET
dad-13359	236	19	graph	graph	NOUN
dad-13359	236	20	,	,	PUNCT
dad-13359	236	21	where	where	SCONJ
dad-13359	236	22	modules	module	NOUN
dad-13359	236	23	variously	variously	ADV
dad-13359	236	24	react	react	VERB
dad-13359	236	25	and	and	CCONJ
dad-13359	236	26	push	push	VERB
dad-13359	236	27	changes	change	NOUN
dad-13359	236	28	to	to	ADP
dad-13359	236	29	the	the	DET
dad-13359	236	30	graph	graph	NOUN
dad-13359	236	31	manager	manager	NOUN
dad-13359	236	32	.	.	PUNCT
dad-13359	237	1	an	an	DET
dad-13359	237	2	important	important	ADJ
dad-13359	237	3	example	example	NOUN
dad-13359	237	4	is	be	AUX
dad-13359	237	5	a	a	DET
dad-13359	237	6	response	response	NOUN
dad-13359	237	7	generation	generation	NOUN
dad-13359	237	8	module	module	NOUN
dad-13359	237	9	,	,	PUNCT
dad-13359	237	10	which	which	PRON
dad-13359	237	11	is	be	AUX
dad-13359	237	12	triggered	trigger	VERB
dad-13359	237	13	upon	upon	SCONJ
dad-13359	237	14	the	the	DET
dad-13359	237	15	addition	addition	NOUN
dad-13359	237	16	of	of	ADP
dad-13359	237	17	a	a	DET
dad-13359	237	18	new	new	ADJ
dad-13359	237	19	user	user	NOUN
dad-13359	237	20	utterance	utterance	VERB
dad-13359	237	21	node	node	NOUN
dad-13359	237	22	in	in	ADP
dad-13359	237	23	the	the	DET
dad-13359	237	24	graph	graph	NOUN
dad-13359	237	25	.	.	PUNCT
dad-13359	238	1	using	use	VERB
dad-13359	238	2	the	the	DET
dad-13359	238	3	updated	update	VERB
dad-13359	238	4	graph	graph	NOUN
dad-13359	238	5	,	,	PUNCT
dad-13359	238	6	the	the	DET
dad-13359	238	7	response	response	NOUN
dad-13359	238	8	69	69	NUM
dad-13359	238	9	walker	walker	NOUN
dad-13359	238	10	,	,	PUNCT
dad-13359	238	11	ultes	ulte	NOUN
dad-13359	238	12	and	and	CCONJ
dad-13359	238	13	lison	lison	NOUN
dad-13359	238	14	robot	robot	NOUN
dad-13359	238	15	path	path	PROPN
dad-13359	238	16	end	end	NOUN
dad-13359	238	17	point	point	NOUN
dad-13359	238	18	start	start	NOUN
dad-13359	238	19	point	point	NOUN
dad-13359	238	20	start	start	NOUN
dad-13359	238	21	point	point	NOUN
dad-13359	238	22	end	end	NOUN
dad-13359	238	23	point	point	NOUN
dad-13359	238	24	forward	forward	ADJ
dad-13359	238	25	movement	movement	NOUN
dad-13359	238	26	rotation	rotation	NOUN
dad-13359	238	27	figure	figure	NOUN
dad-13359	238	28	3	3	NUM
dad-13359	238	29	:	:	PUNCT
dad-13359	238	30	example	example	NOUN
dad-13359	238	31	path	path	NOUN
dad-13359	238	32	drawn	draw	VERB
dad-13359	238	33	from	from	ADP
dad-13359	238	34	spatial	spatial	ADJ
dad-13359	238	35	coordinates	coordinate	NOUN
dad-13359	238	36	,	,	PUNCT
dad-13359	238	37	with	with	ADP
dad-13359	238	38	raw	raw	ADJ
dad-13359	238	39	coordinates	coordinate	NOUN
dad-13359	238	40	on	on	ADP
dad-13359	238	41	the	the	DET
dad-13359	238	42	left	left	NOUN
dad-13359	238	43	and	and	CCONJ
dad-13359	238	44	the	the	DET
dad-13359	238	45	approximated	approximated	ADJ
dad-13359	238	46	path	path	NOUN
dad-13359	238	47	on	on	ADP
dad-13359	238	48	the	the	DET
dad-13359	238	49	right	right	NOUN
dad-13359	238	50	.	.	PUNCT
dad-13359	239	1	the	the	DET
dad-13359	239	2	orange	orange	PROPN
dad-13359	239	3	points	points	PROPN
dad-13359	239	4	mark	mark	PROPN
dad-13359	239	5	coordinates	coordinate	NOUN
dad-13359	239	6	associated	associate	VERB
dad-13359	239	7	with	with	ADP
dad-13359	239	8	the	the	DET
dad-13359	239	9	room	room	NOUN
dad-13359	239	10	label	label	NOUN
dad-13359	239	11	,	,	PUNCT
dad-13359	239	12	blue	blue	ADJ
dad-13359	239	13	points	point	NOUN
dad-13359	239	14	are	be	AUX
dad-13359	239	15	those	those	PRON
dad-13359	239	16	labeled	label	VERB
dad-13359	239	17	as	as	SCONJ
dad-13359	239	18	located	locate	VERB
dad-13359	239	19	in	in	ADP
dad-13359	239	20	the	the	DET
dad-13359	239	21	hallway	hallway	NOUN
dad-13359	239	22	.	.	PUNCT
dad-13359	240	1	approximate	approximate	VERB
dad-13359	240	2	forward	forward	ADJ
dad-13359	240	3	movements	movement	NOUN
dad-13359	240	4	and	and	CCONJ
dad-13359	240	5	inplace	inplace	VERB
dad-13359	240	6	rotations	rotation	NOUN
dad-13359	240	7	are	be	AUX
dad-13359	240	8	highlighted	highlight	VERB
dad-13359	240	9	alongside	alongside	ADP
dad-13359	240	10	the	the	DET
dad-13359	240	11	robot	robot	NOUN
dad-13359	240	12	path	path	NOUN
dad-13359	240	13	in	in	ADP
dad-13359	240	14	red	red	ADJ
dad-13359	240	15	and	and	CCONJ
dad-13359	240	16	green	green	ADJ
dad-13359	240	17	,	,	PUNCT
dad-13359	240	18	respectively	respectively	ADV
dad-13359	240	19	.	.	PUNCT
dad-13359	241	1	generation	generation	NOUN
dad-13359	241	2	module	module	NOUN
dad-13359	241	3	generates	generate	VERB
dad-13359	241	4	an	an	DET
dad-13359	241	5	agent	agent	NOUN
dad-13359	241	6	response	response	NOUN
dad-13359	241	7	to	to	ADP
dad-13359	241	8	the	the	DET
dad-13359	241	9	last	last	ADJ
dad-13359	241	10	user	user	NOUN
dad-13359	241	11	utterance	utterance	NOUN
dad-13359	241	12	and	and	CCONJ
dad-13359	241	13	adds	add	VERB
dad-13359	241	14	the	the	DET
dad-13359	241	15	response	response	NOUN
dad-13359	241	16	to	to	ADP
dad-13359	241	17	the	the	DET
dad-13359	241	18	graph	graph	NOUN
dad-13359	241	19	with	with	ADP
dad-13359	241	20	a	a	DET
dad-13359	241	21	“	"	PUNCT
dad-13359	241	22	follows	follow	VERB
dad-13359	241	23	”	"	PUNCT
dad-13359	241	24	relation	relation	NOUN
dad-13359	241	25	to	to	ADP
dad-13359	241	26	the	the	DET
dad-13359	241	27	utterance	utterance	NOUN
dad-13359	241	28	.	.	PUNCT
dad-13359	242	1	this	this	DET
dad-13359	242	2	graph	graph	NOUN
dad-13359	242	3	update	update	NOUN
dad-13359	242	4	in	in	ADP
dad-13359	242	5	turn	turn	NOUN
dad-13359	242	6	is	be	AUX
dad-13359	242	7	passed	pass	VERB
dad-13359	242	8	to	to	ADP
dad-13359	242	9	the	the	DET
dad-13359	242	10	embodied	embodied	ADJ
dad-13359	242	11	agent	agent	NOUN
dad-13359	242	12	for	for	ADP
dad-13359	242	13	speech	speech	NOUN
dad-13359	242	14	generation	generation	NOUN
dad-13359	242	15	.	.	PUNCT
dad-13359	243	1	in	in	ADP
dad-13359	243	2	the	the	DET
dad-13359	243	3	same	same	ADJ
dad-13359	243	4	fashion	fashion	NOUN
dad-13359	243	5	,	,	PUNCT
dad-13359	243	6	objects	object	NOUN
dad-13359	243	7	detected	detect	VERB
dad-13359	243	8	in	in	ADP
dad-13359	243	9	visual	visual	ADJ
dad-13359	243	10	sensory	sensory	ADJ
dad-13359	243	11	input	input	NOUN
dad-13359	243	12	are	be	AUX
dad-13359	243	13	added	add	VERB
dad-13359	243	14	to	to	ADP
dad-13359	243	15	the	the	DET
dad-13359	243	16	graph	graph	NOUN
dad-13359	243	17	.	.	PUNCT
dad-13359	244	1	raw	raw	ADJ
dad-13359	244	2	image	image	NOUN
dad-13359	244	3	data	datum	NOUN
dad-13359	244	4	collected	collect	VERB
dad-13359	244	5	by	by	ADP
dad-13359	244	6	a	a	DET
dad-13359	244	7	camera	camera	NOUN
dad-13359	244	8	can	can	AUX
dad-13359	244	9	be	be	AUX
dad-13359	244	10	added	add	VERB
dad-13359	244	11	as	as	ADP
dad-13359	244	12	nodes	node	NOUN
dad-13359	244	13	to	to	ADP
dad-13359	244	14	the	the	DET
dad-13359	244	15	graph	graph	NOUN
dad-13359	244	16	directly	directly	ADV
dad-13359	244	17	.	.	PUNCT
dad-13359	245	1	these	these	DET
dad-13359	245	2	additions	addition	NOUN
dad-13359	245	3	in	in	ADP
dad-13359	245	4	turn	turn	NOUN
dad-13359	245	5	trigger	trigger	NOUN
dad-13359	245	6	postprocessing	postprocessing	NOUN
dad-13359	245	7	of	of	ADP
dad-13359	245	8	the	the	DET
dad-13359	245	9	image	image	NOUN
dad-13359	245	10	data	datum	NOUN
dad-13359	245	11	,	,	PUNCT
dad-13359	245	12	whereby	whereby	SCONJ
dad-13359	245	13	objects	object	VERB
dad-13359	245	14	,	,	PUNCT
dad-13359	245	15	people	people	NOUN
dad-13359	245	16	and	and	CCONJ
dad-13359	245	17	other	other	ADJ
dad-13359	245	18	entities	entity	NOUN
dad-13359	245	19	may	may	AUX
dad-13359	245	20	be	be	AUX
dad-13359	245	21	recognized	recognize	VERB
dad-13359	245	22	and	and	CCONJ
dad-13359	245	23	added	add	VERB
dad-13359	245	24	to	to	ADP
dad-13359	245	25	the	the	DET
dad-13359	245	26	graph	graph	NOUN
dad-13359	245	27	as	as	ADP
dad-13359	245	28	additional	additional	ADJ
dad-13359	245	29	nodes	node	NOUN
dad-13359	245	30	with	with	ADP
dad-13359	245	31	an	an	DET
dad-13359	245	32	“	"	PUNCT
dad-13359	245	33	in	in	ADP
dad-13359	245	34	”	"	PUNCT
dad-13359	245	35	relation	relation	NOUN
dad-13359	245	36	to	to	ADP
dad-13359	245	37	the	the	DET
dad-13359	245	38	image	image	NOUN
dad-13359	245	39	.	.	PUNCT
dad-13359	246	1	we	we	PRON
dad-13359	246	2	also	also	ADV
dad-13359	246	3	assign	assign	VERB
dad-13359	246	4	probabilities	probability	NOUN
dad-13359	246	5	to	to	ADP
dad-13359	246	6	these	these	DET
dad-13359	246	7	objects	object	NOUN
dad-13359	246	8	derived	derive	VERB
dad-13359	246	9	from	from	ADP
dad-13359	246	10	the	the	DET
dad-13359	246	11	output	output	NOUN
dad-13359	246	12	of	of	ADP
dad-13359	246	13	the	the	DET
dad-13359	246	14	visual	visual	ADJ
dad-13359	246	15	model	model	NOUN
dad-13359	246	16	use	use	NOUN
dad-13359	246	17	to	to	PART
dad-13359	246	18	identify	identify	VERB
dad-13359	246	19	them	they	PRON
dad-13359	246	20	.	.	PUNCT
dad-13359	247	1	3.2.2	3.2.2	NUM
dad-13359	247	2	path	path	NOUN
dad-13359	247	3	generation	generation	NOUN
dad-13359	247	4	a	a	DET
dad-13359	247	5	particular	particular	ADJ
dad-13359	247	6	component	component	NOUN
dad-13359	247	7	integrated	integrate	VERB
dad-13359	247	8	in	in	ADP
dad-13359	247	9	the	the	DET
dad-13359	247	10	hri	hri	PROPN
dad-13359	247	11	platform	platform	NOUN
dad-13359	247	12	employed	employ	VERB
dad-13359	247	13	in	in	ADP
dad-13359	247	14	our	our	PRON
dad-13359	247	15	experiments	experiment	NOUN
dad-13359	247	16	(	(	PUNCT
dad-13359	247	17	section	section	NOUN
dad-13359	247	18	4	4	NUM
dad-13359	247	19	)	)	PUNCT
dad-13359	247	20	is	be	AUX
dad-13359	247	21	a	a	DET
dad-13359	247	22	mechanism	mechanism	NOUN
dad-13359	247	23	for	for	ADP
dad-13359	247	24	deriving	derive	VERB
dad-13359	247	25	a	a	DET
dad-13359	247	26	continuous	continuous	ADJ
dad-13359	247	27	path	path	NOUN
dad-13359	247	28	from	from	ADP
dad-13359	247	29	the	the	DET
dad-13359	247	30	raw	raw	ADJ
dad-13359	247	31	sequence	sequence	NOUN
dad-13359	247	32	of	of	ADP
dad-13359	247	33	spatial	spatial	ADJ
dad-13359	247	34	coordinates	coordinate	NOUN
dad-13359	247	35	recorded	record	VERB
dad-13359	247	36	by	by	ADP
dad-13359	247	37	the	the	DET
dad-13359	247	38	robot	robot	NOUN
dad-13359	247	39	.	.	PUNCT
dad-13359	248	1	this	this	DET
dad-13359	248	2	mechanism	mechanism	NOUN
dad-13359	248	3	operates	operate	VERB
dad-13359	248	4	in	in	ADP
dad-13359	248	5	two	two	NUM
dad-13359	248	6	steps	step	NOUN
dad-13359	248	7	.	.	PUNCT
dad-13359	249	1	the	the	DET
dad-13359	249	2	spatial	spatial	ADJ
dad-13359	249	3	coordinates	coordinate	NOUN
dad-13359	249	4	are	be	AUX
dad-13359	249	5	first	first	ADV
dad-13359	249	6	converted	convert	VERB
dad-13359	249	7	into	into	ADP
dad-13359	249	8	a	a	DET
dad-13359	249	9	limited	limited	ADJ
dad-13359	249	10	number	number	NOUN
dad-13359	249	11	of	of	ADP
dad-13359	249	12	lines	line	NOUN
dad-13359	249	13	based	base	VERB
dad-13359	249	14	on	on	ADP
dad-13359	249	15	the	the	DET
dad-13359	249	16	ramer	ramer	PROPN
dad-13359	249	17	-	-	PUNCT
dad-13359	249	18	douglas	douglas	PROPN
dad-13359	249	19	-	-	PUNCT
dad-13359	249	20	peucker	peucker	NOUN
dad-13359	249	21	algorithm	algorithm	NOUN
dad-13359	249	22	(	(	PUNCT
dad-13359	249	23	douglas	douglas	PROPN
dad-13359	249	24	and	and	CCONJ
dad-13359	249	25	peucker	peucker	PROPN
dad-13359	249	26	,	,	PUNCT
dad-13359	249	27	1973	1973	NUM
dad-13359	249	28	)	)	PUNCT
dad-13359	249	29	.	.	PUNCT
dad-13359	250	1	those	those	DET
dad-13359	250	2	lines	line	NOUN
dad-13359	250	3	are	be	AUX
dad-13359	250	4	in	in	ADP
dad-13359	250	5	turn	turn	NOUN
dad-13359	250	6	converted	convert	VERB
dad-13359	250	7	into	into	ADP
dad-13359	250	8	an	an	DET
dad-13359	250	9	ordered	order	VERB
dad-13359	250	10	list	list	NOUN
dad-13359	250	11	of	of	ADP
dad-13359	250	12	movements	movement	NOUN
dad-13359	250	13	,	,	PUNCT
dad-13359	250	14	divided	divide	VERB
dad-13359	250	15	in	in	ADP
dad-13359	250	16	two	two	NUM
dad-13359	250	17	types	type	NOUN
dad-13359	250	18	:	:	PUNCT
dad-13359	250	19	straight	straight	ADJ
dad-13359	250	20	forward	forward	ADJ
dad-13359	250	21	movements	movement	NOUN
dad-13359	250	22	and	and	CCONJ
dad-13359	250	23	in	in	ADP
dad-13359	250	24	-	-	PUNCT
dad-13359	250	25	place	place	NOUN
dad-13359	250	26	rotations1	rotations1	NOUN
dad-13359	250	27	,	,	PUNCT
dad-13359	250	28	the	the	DET
dad-13359	250	29	straight	straight	ADJ
dad-13359	250	30	movements	movement	NOUN
dad-13359	250	31	being	be	AUX
dad-13359	250	32	specified	specify	VERB
dad-13359	250	33	for	for	ADP
dad-13359	250	34	a	a	DET
dad-13359	250	35	given	give	VERB
dad-13359	250	36	distance	distance	NOUN
dad-13359	250	37	,	,	PUNCT
dad-13359	250	38	and	and	CCONJ
dad-13359	250	39	the	the	DET
dad-13359	250	40	rotations	rotation	NOUN
dad-13359	250	41	for	for	ADP
dad-13359	250	42	a	a	DET
dad-13359	250	43	given	give	VERB
dad-13359	250	44	angle	angle	NOUN
dad-13359	250	45	.	.	PUNCT
dad-13359	251	1	this	this	DET
dad-13359	251	2	list	list	NOUN
dad-13359	251	3	of	of	ADP
dad-13359	251	4	movements	movement	NOUN
dad-13359	251	5	is	be	AUX
dad-13359	251	6	then	then	ADV
dad-13359	251	7	integrated	integrate	VERB
dad-13359	251	8	into	into	ADP
dad-13359	251	9	the	the	DET
dad-13359	251	10	graph	graph	NOUN
dad-13359	251	11	.	.	PUNCT
dad-13359	252	1	an	an	DET
dad-13359	252	2	example	example	NOUN
dad-13359	252	3	path	path	NOUN
dad-13359	252	4	drawn	draw	VERB
dad-13359	252	5	from	from	ADP
dad-13359	252	6	raw	raw	ADJ
dad-13359	252	7	coordinates	coordinate	NOUN
dad-13359	252	8	is	be	AUX
dad-13359	252	9	given	give	VERB
dad-13359	252	10	in	in	ADP
dad-13359	252	11	figure	figure	NOUN
dad-13359	252	12	3	3	NUM
dad-13359	252	13	.	.	PUNCT
dad-13359	253	1	the	the	DET
dad-13359	253	2	nodes	node	NOUN
dad-13359	253	3	expressing	express	VERB
dad-13359	253	4	the	the	DET
dad-13359	253	5	spatial	spatial	ADJ
dad-13359	253	6	coordinates	coordinate	NOUN
dad-13359	253	7	in	in	ADP
dad-13359	253	8	the	the	DET
dad-13359	253	9	state	state	NOUN
dad-13359	253	10	graph	graph	NOUN
dad-13359	253	11	are	be	AUX
dad-13359	253	12	further	far	ADV
dad-13359	253	13	connected	connect	VERB
dad-13359	253	14	to	to	ADP
dad-13359	253	15	edges	edge	NOUN
dad-13359	253	16	expressing	express	VERB
dad-13359	253	17	that	that	SCONJ
dad-13359	253	18	they	they	PRON
dad-13359	253	19	are	be	AUX
dad-13359	253	20	part	part	NOUN
dad-13359	253	21	of	of	ADP
dad-13359	253	22	a	a	DET
dad-13359	253	23	larger	large	ADJ
dad-13359	253	24	location	location	NOUN
dad-13359	253	25	with	with	ADP
dad-13359	253	26	a	a	DET
dad-13359	253	27	given	give	VERB
dad-13359	253	28	name	name	NOUN
dad-13359	253	29	,	,	PUNCT
dad-13359	253	30	such	such	ADJ
dad-13359	253	31	as	as	ADP
dad-13359	253	32	“	"	PUNCT
dad-13359	253	33	hallway	hallway	NOUN
dad-13359	253	34	”	"	PUNCT
dad-13359	253	35	or	or	CCONJ
dad-13359	253	36	“	"	PUNCT
dad-13359	253	37	break	break	NOUN
dad-13359	253	38	room	room	NOUN
dad-13359	253	39	”	"	PUNCT
dad-13359	253	40	.	.	PUNCT
dad-13359	254	1	in	in	ADP
dad-13359	254	2	the	the	DET
dad-13359	254	3	experiments	experiment	NOUN
dad-13359	254	4	,	,	PUNCT
dad-13359	254	5	those	those	DET
dad-13359	254	6	names	name	NOUN
dad-13359	254	7	are	be	AUX
dad-13359	254	8	provided	provide	VERB
dad-13359	254	9	by	by	ADP
dad-13359	254	10	the	the	DET
dad-13359	254	11	human	human	ADJ
dad-13359	254	12	participant	participant	NOUN
dad-13359	254	13	during	during	ADP
dad-13359	254	14	the	the	DET
dad-13359	254	15	tour	tour	NOUN
dad-13359	254	16	,	,	PUNCT
dad-13359	254	17	as	as	SCONJ
dad-13359	254	18	detailed	detailed	ADJ
dad-13359	254	19	in	in	ADP
dad-13359	254	20	section	section	NOUN
dad-13359	254	21	4.1	4.1	NUM
dad-13359	254	22	.	.	NOUN
dad-13359	255	1	1	1	NUM
dad-13359	255	2	.	.	X
dad-13359	256	1	this	this	PRON
dad-13359	256	2	is	be	AUX
dad-13359	256	3	of	of	ADP
dad-13359	256	4	course	course	NOUN
dad-13359	256	5	a	a	DET
dad-13359	256	6	simplification	simplification	NOUN
dad-13359	256	7	,	,	PUNCT
dad-13359	256	8	based	base	VERB
dad-13359	256	9	on	on	ADP
dad-13359	256	10	the	the	DET
dad-13359	256	11	fact	fact	NOUN
dad-13359	256	12	that	that	SCONJ
dad-13359	256	13	the	the	DET
dad-13359	256	14	pepper	pepper	NOUN
dad-13359	256	15	robot	robot	NOUN
dad-13359	256	16	uses	use	VERB
dad-13359	256	17	omni	omni	ADJ
dad-13359	256	18	-	-	PUNCT
dad-13359	256	19	directional	directional	ADJ
dad-13359	256	20	wheels	wheel	NOUN
dad-13359	256	21	,	,	PUNCT
dad-13359	256	22	and	and	CCONJ
dad-13359	256	23	that	that	SCONJ
dad-13359	256	24	its	its	PRON
dad-13359	256	25	movements	movement	NOUN
dad-13359	256	26	in	in	ADP
dad-13359	256	27	the	the	DET
dad-13359	256	28	indoor	indoor	ADJ
dad-13359	256	29	environment	environment	NOUN
dad-13359	256	30	of	of	ADP
dad-13359	256	31	the	the	DET
dad-13359	256	32	user	user	NOUN
dad-13359	256	33	study	study	NOUN
dad-13359	256	34	were	be	AUX
dad-13359	256	35	either	either	CCONJ
dad-13359	256	36	straight	straight	ADJ
dad-13359	256	37	-	-	PUNCT
dad-13359	256	38	line	line	NOUN
dad-13359	256	39	motions	motion	NOUN
dad-13359	256	40	or	or	CCONJ
dad-13359	256	41	in	in	ADP
dad-13359	256	42	-	-	PUNCT
dad-13359	256	43	place	place	NOUN
dad-13359	256	44	turns	turn	NOUN
dad-13359	256	45	.	.	PUNCT
dad-13359	257	1	70	70	NUM
dad-13359	257	2	a	a	DET
dad-13359	257	3	graph	graph	NOUN
dad-13359	257	4	-	-	PUNCT
dad-13359	257	5	to	to	ADP
dad-13359	257	6	-	-	PUNCT
dad-13359	257	7	text	text	NOUN
dad-13359	257	8	approach	approach	NOUN
dad-13359	257	9	to	to	ADP
dad-13359	257	10	knowledge	knowledge	NOUN
dad-13359	257	11	-	-	PUNCT
dad-13359	257	12	grounded	ground	VERB
dad-13359	257	13	response	response	NOUN
dad-13359	257	14	generation	generation	NOUN
dad-13359	257	15	in	in	ADP
dad-13359	257	16	hri	hri	PROPN
dad-13359	257	17	turn	turn	NOUN
dad-13359	257	18	left	leave	VERB
dad-13359	257	19	75	75	NUM
dad-13359	257	20	degrees	degree	NOUN
dad-13359	257	21	creation_time	creation_time	ADJ
dad-13359	257	22	08:55	08:55	NUM
dad-13359	257	23	bookshelf	bookshelf	NOUN
dad-13359	257	24	in	in	ADP
dad-13359	257	25	office	office	NOUN
dad-13359	257	26	of	of	ADP
dad-13359	257	27	magna	magna	NOUN
dad-13359	257	28	table	table	NOUN
dad-13359	257	29	creation_time	creation_time	NOUN
dad-13359	257	30	08:39	08:39	NUM
dad-13359	257	31	bookshelf	bookshelf	NOUN
dad-13359	257	32	creation_time	creation_time	NOUN
dad-13359	257	33	08:48	08:48	NUM
dad-13359	257	34	computer	computer	NOUN
dad-13359	257	35	mouse	mouse	NOUN
dad-13359	257	36	creation_time	creation_time	ADJ
dad-13359	257	37	08:38	08:38	NUM
dad-13359	257	38	door	door	NOUN
dad-13359	257	39	creation_time	creation_time	ADJ
dad-13359	257	40	08:48	08:48	NUM
dad-13359	257	41	forward	forward	ADV
dad-13359	257	42	2.8	2.8	NUM
dad-13359	257	43	meters	meter	NOUN
dad-13359	257	44	start	start	VERB
dad-13359	257	45	corridor	corridor	ADJ
dad-13359	257	46	3	3	NUM
dad-13359	257	47	forward	forward	ADV
dad-13359	257	48	1.2	1.2	NUM
dad-13359	257	49	meters	meter	NOUN
dad-13359	257	50	start	start	VERB
dad-13359	257	51	corridor	corridor	ADJ
dad-13359	257	52	for	for	ADP
dad-13359	257	53	turn	turn	NOUN
dad-13359	257	54	left	leave	VERB
dad-13359	257	55	67	67	NUM
dad-13359	257	56	degrees	degree	NOUN
dad-13359	257	57	start	start	VERB
dad-13359	257	58	corridor	corridor	ADJ
dad-13359	257	59	for	for	ADP
dad-13359	257	60	person	person	NOUN
dad-13359	257	61	in	in	ADP
dad-13359	257	62	corridor	corridor	NOUN
dad-13359	257	63	for	for	ADP
dad-13359	257	64	turn	turn	NOUN
dad-13359	257	65	left	leave	VERB
dad-13359	257	66	70	70	NUM
dad-13359	257	67	degrees	degree	NOUN
dad-13359	257	68	start	start	VERB
dad-13359	258	1	corridor	corridor	ADJ
dad-13359	258	2	desk	desk	NOUN
dad-13359	258	3	creation_time	creation_time	NOUN
dad-13359	258	4	08:45	08:45	NUM
dad-13359	258	5	chair	chair	NOUN
dad-13359	258	6	creation_time	creation_time	ADJ
dad-13359	258	7	08:48	08:48	NUM
dad-13359	258	8	forward	forward	ADV
dad-13359	258	9	2.4	2.4	NUM
dad-13359	258	10	meters	meter	NOUN
dad-13359	258	11	start	start	VERB
dad-13359	258	12	storage	storage	NOUN
dad-13359	258	13	room	room	NOUN
dad-13359	258	14	forward	forward	ADV
dad-13359	258	15	9.0	9.0	NUM
dad-13359	258	16	meters	meter	NOUN
dad-13359	258	17	start	start	VERB
dad-13359	258	18	new	new	ADJ
dad-13359	258	19	corridor	corridor	NOUN
dad-13359	258	20	forward	forward	ADV
dad-13359	258	21	1.8	1.8	NUM
dad-13359	258	22	meters	meter	NOUN
dad-13359	258	23	start	start	VERB
dad-13359	258	24	survive	survive	VERB
dad-13359	258	25	[	[	X
dad-13359	258	26	...	...	PUNCT
dad-13359	258	27	]	]	X
dad-13359	258	28	at	at	ADP
dad-13359	258	29	08:38	08:38	NUM
dad-13359	258	30	,	,	PUNCT
dad-13359	258	31	we	we	PRON
dad-13359	258	32	were	be	AUX
dad-13359	258	33	in	in	ADP
dad-13359	258	34	starting	start	VERB
dad-13359	258	35	area	area	NOUN
dad-13359	258	36	.	.	PUNCT
dad-13359	259	1	in	in	ADP
dad-13359	259	2	starting	start	VERB
dad-13359	259	3	area	area	NOUN
dad-13359	259	4	,	,	PUNCT
dad-13359	259	5	pepper	pepper	PROPN
dad-13359	259	6	saw	see	VERB
dad-13359	259	7	a	a	DET
dad-13359	259	8	table	table	NOUN
dad-13359	259	9	,	,	PUNCT
dad-13359	259	10	a	a	DET
dad-13359	259	11	door	door	NOUN
dad-13359	259	12	,	,	PUNCT
dad-13359	259	13	a	a	DET
dad-13359	259	14	desk	desk	NOUN
dad-13359	259	15	,	,	PUNCT
dad-13359	259	16	a	a	DET
dad-13359	259	17	chair	chair	NOUN
dad-13359	259	18	,	,	PUNCT
dad-13359	259	19	a	a	DET
dad-13359	259	20	computer	computer	NOUN
dad-13359	259	21	mouse	mouse	NOUN
dad-13359	259	22	,	,	PUNCT
dad-13359	259	23	a	a	DET
dad-13359	259	24	bookshelf	bookshelf	NOUN
dad-13359	259	25	and	and	CCONJ
dad-13359	259	26	a	a	DET
dad-13359	259	27	tv	tv	NOUN
dad-13359	259	28	.	.	PUNCT
dad-13359	260	1	pepper	pepper	PROPN
dad-13359	260	2	may	may	AUX
dad-13359	260	3	have	have	AUX
dad-13359	260	4	also	also	ADV
dad-13359	260	5	seen	see	VERB
dad-13359	260	6	a	a	DET
dad-13359	260	7	computer	computer	NOUN
dad-13359	260	8	,	,	PUNCT
dad-13359	260	9	a	a	DET
dad-13359	260	10	blue	blue	ADJ
dad-13359	260	11	curtain	curtain	NOUN
dad-13359	260	12	,	,	PUNCT
dad-13359	260	13	a	a	DET
dad-13359	260	14	lamp	lamp	NOUN
dad-13359	260	15	,	,	PUNCT
dad-13359	260	16	a	a	DET
dad-13359	260	17	light	light	ADJ
dad-13359	260	18	,	,	PUNCT
dad-13359	260	19	paper	paper	NOUN
dad-13359	260	20	,	,	PUNCT
dad-13359	260	21	a	a	DET
dad-13359	260	22	window	window	NOUN
dad-13359	260	23	and	and	CCONJ
dad-13359	260	24	a	a	DET
dad-13359	260	25	copy	copy	NOUN
dad-13359	260	26	machine	machine	NOUN
dad-13359	260	27	.	.	PUNCT
dad-13359	261	1	we	we	PRON
dad-13359	261	2	spent	spend	VERB
dad-13359	261	3	27	27	NUM
dad-13359	261	4	seconds	second	NOUN
dad-13359	261	5	in	in	ADP
dad-13359	261	6	that	that	DET
dad-13359	261	7	area	area	NOUN
dad-13359	261	8	and	and	CCONJ
dad-13359	261	9	traveled	travel	VERB
dad-13359	261	10	5.7	5.7	NUM
dad-13359	261	11	meters	meter	NOUN
dad-13359	261	12	.	.	PUNCT
dad-13359	262	1	in	in	ADP
dad-13359	262	2	starting	start	VERB
dad-13359	262	3	area	area	NOUN
dad-13359	262	4	,	,	PUNCT
dad-13359	262	5	pepper	pepper	NOUN
dad-13359	262	6	turned	turn	VERB
dad-13359	262	7	left	leave	VERB
dad-13359	262	8	24	24	NUM
dad-13359	262	9	degrees	degree	NOUN
dad-13359	262	10	.	.	PUNCT
dad-13359	263	1	at	at	ADP
dad-13359	263	2	08:39	08:39	NUM
dad-13359	263	3	,	,	PUNCT
dad-13359	263	4	we	we	PRON
dad-13359	263	5	were	be	AUX
dad-13359	263	6	in	in	ADP
dad-13359	263	7	corridor	corridor	NOUN
dad-13359	263	8	.	.	PUNCT
dad-13359	264	1	in	in	ADP
dad-13359	264	2	corridor	corridor	NOUN
dad-13359	264	3	,	,	PUNCT
dad-13359	264	4	pepper	pepper	NOUN
dad-13359	264	5	saw	see	VERB
dad-13359	264	6	a	a	DET
dad-13359	264	7	table	table	NOUN
dad-13359	264	8	,	,	PUNCT
dad-13359	264	9	a	a	DET
dad-13359	264	10	fire	fire	NOUN
dad-13359	264	11	extinguisher	extinguisher	NOUN
dad-13359	264	12	,	,	PUNCT
dad-13359	264	13	a	a	DET
dad-13359	264	14	door	door	NOUN
dad-13359	264	15	,	,	PUNCT
dad-13359	264	16	a	a	DET
dad-13359	264	17	desk	desk	NOUN
dad-13359	264	18	,	,	PUNCT
dad-13359	264	19	a	a	DET
dad-13359	264	20	chair	chair	NOUN
dad-13359	264	21	,	,	PUNCT
dad-13359	264	22	a	a	DET
dad-13359	264	23	couch	couch	NOUN
dad-13359	264	24	,	,	PUNCT
dad-13359	264	25	a	a	DET
dad-13359	264	26	bookshelf	bookshelf	NOUN
dad-13359	264	27	,	,	PUNCT
dad-13359	264	28	a	a	DET
dad-13359	264	29	whiteboard	whiteboard	NOUN
dad-13359	264	30	and	and	CCONJ
dad-13359	264	31	a	a	DET
dad-13359	264	32	window	window	NOUN
dad-13359	264	33	.	.	PUNCT
dad-13359	265	1	pepper	pepper	NOUN
dad-13359	265	2	may	may	AUX
dad-13359	265	3	have	have	AUX
dad-13359	265	4	also	also	ADV
dad-13359	265	5	seen	see	VERB
dad-13359	265	6	a	a	DET
dad-13359	265	7	wastebin	wastebin	NOUN
dad-13359	265	8	,	,	PUNCT
dad-13359	265	9	a	a	DET
dad-13359	265	10	plant	plant	NOUN
dad-13359	265	11	,	,	PUNCT
dad-13359	265	12	a	a	DET
dad-13359	265	13	printer	printer	NOUN
dad-13359	265	14	,	,	PUNCT
dad-13359	265	15	a	a	DET
dad-13359	265	16	pillar	pillar	NOUN
dad-13359	265	17	,	,	PUNCT
dad-13359	265	18	a	a	DET
dad-13359	265	19	pen	pen	NOUN
dad-13359	265	20	,	,	PUNCT
dad-13359	265	21	a	a	DET
dad-13359	265	22	blue	blue	ADJ
dad-13359	265	23	curtain	curtain	NOUN
dad-13359	265	24	,	,	PUNCT
dad-13359	265	25	a	a	DET
dad-13359	265	26	lamp	lamp	NOUN
dad-13359	265	27	,	,	PUNCT
dad-13359	265	28	a	a	DET
dad-13359	265	29	light	light	NOUN
dad-13359	265	30	,	,	PUNCT
dad-13359	265	31	a	a	DET
dad-13359	265	32	tv	tv	NOUN
dad-13359	265	33	and	and	CCONJ
dad-13359	265	34	a	a	DET
dad-13359	265	35	copy	copy	NOUN
dad-13359	265	36	machine	machine	NOUN
dad-13359	265	37	.	.	PUNCT
dad-13359	266	1	we	we	PRON
dad-13359	266	2	spent	spend	VERB
dad-13359	266	3	84	84	NUM
dad-13359	266	4	seconds	second	NOUN
dad-13359	266	5	in	in	ADP
dad-13359	266	6	that	that	DET
dad-13359	266	7	area	area	NOUN
dad-13359	266	8	and	and	CCONJ
dad-13359	266	9	traveled	travel	VERB
dad-13359	266	10	25.9	25.9	NUM
dad-13359	266	11	meters	meter	NOUN
dad-13359	266	12	.	.	PUNCT
dad-13359	267	1	[	[	X
dad-13359	267	2	...	...	X
dad-13359	267	3	]	]	X
dad-13359	267	4	triples	triple	NOUN
dad-13359	267	5	representation	representation	NOUN
dad-13359	267	6	verbalized	verbalize	VERB
dad-13359	267	7	representation	representation	NOUN
dad-13359	267	8	figure	figure	NOUN
dad-13359	267	9	4	4	NUM
dad-13359	267	10	:	:	PUNCT
dad-13359	267	11	comparison	comparison	NOUN
dad-13359	267	12	of	of	ADP
dad-13359	267	13	a	a	DET
dad-13359	267	14	dialogue	dialogue	NOUN
dad-13359	267	15	graph	graph	NOUN
dad-13359	267	16	represented	represent	VERB
dad-13359	267	17	with	with	ADP
dad-13359	267	18	triples	triple	NOUN
dad-13359	267	19	versus	versus	ADP
dad-13359	267	20	verbalization	verbalization	NOUN
dad-13359	267	21	.	.	PUNCT
dad-13359	268	1	3.3	3.3	NUM
dad-13359	268	2	graph	graph	NOUN
dad-13359	268	3	-	-	PUNCT
dad-13359	268	4	to	to	ADP
dad-13359	268	5	-	-	PUNCT
dad-13359	268	6	text	text	NOUN
dad-13359	268	7	transformation	transformation	NOUN
dad-13359	268	8	3.3.1	3.3.1	NUM
dad-13359	268	9	verbalization	verbalization	NOUN
dad-13359	268	10	function	function	NOUN
dad-13359	268	11	to	to	PART
dad-13359	268	12	use	use	VERB
dad-13359	268	13	the	the	DET
dad-13359	268	14	dialogue	dialogue	NOUN
dad-13359	268	15	state	state	NOUN
dad-13359	268	16	graph	graph	NOUN
dad-13359	268	17	information	information	NOUN
dad-13359	268	18	with	with	ADP
dad-13359	268	19	an	an	DET
dad-13359	268	20	llm	llm	NOUN
dad-13359	268	21	,	,	PUNCT
dad-13359	268	22	it	it	PRON
dad-13359	268	23	is	be	AUX
dad-13359	268	24	necessary	necessary	ADJ
dad-13359	268	25	to	to	PART
dad-13359	268	26	convert	convert	VERB
dad-13359	268	27	the	the	DET
dad-13359	268	28	structured	structured	ADJ
dad-13359	268	29	information	information	NOUN
dad-13359	268	30	into	into	ADP
dad-13359	268	31	natural	natural	ADJ
dad-13359	268	32	language	language	NOUN
dad-13359	268	33	.	.	PUNCT
dad-13359	269	1	a	a	DET
dad-13359	269	2	variety	variety	NOUN
dad-13359	269	3	of	of	ADP
dad-13359	269	4	methods	method	NOUN
dad-13359	269	5	have	have	AUX
dad-13359	269	6	been	be	AUX
dad-13359	269	7	applied	apply	VERB
dad-13359	269	8	to	to	PART
dad-13359	269	9	generate	generate	VERB
dad-13359	269	10	natural	natural	ADJ
dad-13359	269	11	language	language	NOUN
dad-13359	269	12	from	from	ADP
dad-13359	269	13	structured	structured	ADJ
dad-13359	269	14	information	information	NOUN
dad-13359	269	15	such	such	ADJ
dad-13359	269	16	as	as	ADP
dad-13359	269	17	tables	table	NOUN
dad-13359	269	18	(	(	PUNCT
dad-13359	269	19	nema	nema	X
dad-13359	269	20	et	et	PROPN
dad-13359	269	21	al	al	PROPN
dad-13359	269	22	.	.	PROPN
dad-13359	269	23	,	,	PUNCT
dad-13359	269	24	2018	2018	NUM
dad-13359	269	25	)	)	PUNCT
dad-13359	269	26	.	.	PUNCT
dad-13359	270	1	in	in	ADP
dad-13359	270	2	contrast	contrast	NOUN
dad-13359	270	3	to	to	ADP
dad-13359	270	4	e.g.	e.g.	ADV
dad-13359	270	5	llmbased	llmbase	VERB
dad-13359	270	6	approaches	approach	NOUN
dad-13359	270	7	to	to	ADP
dad-13359	270	8	converting	convert	VERB
dad-13359	270	9	structured	structured	ADJ
dad-13359	270	10	data	datum	NOUN
dad-13359	270	11	to	to	ADP
dad-13359	270	12	text	text	NOUN
dad-13359	270	13	,	,	PUNCT
dad-13359	270	14	our	our	PRON
dad-13359	270	15	proposed	propose	VERB
dad-13359	270	16	approach	approach	NOUN
dad-13359	270	17	the	the	DET
dad-13359	270	18	converts	convert	NOUN
dad-13359	270	19	dialogue	dialogue	NOUN
dad-13359	270	20	state	state	NOUN
dad-13359	270	21	graph	graph	NOUN
dad-13359	270	22	information	information	NOUN
dad-13359	270	23	into	into	ADP
dad-13359	270	24	text	text	NOUN
dad-13359	270	25	descriptions	description	NOUN
dad-13359	270	26	via	via	ADP
dad-13359	270	27	a	a	DET
dad-13359	270	28	set	set	NOUN
dad-13359	270	29	of	of	ADP
dad-13359	270	30	templates	template	NOUN
dad-13359	270	31	relying	rely	VERB
dad-13359	270	32	on	on	ADP
dad-13359	270	33	graph	graph	NOUN
dad-13359	270	34	traversals	traversal	NOUN
dad-13359	270	35	.	.	PUNCT
dad-13359	271	1	in	in	ADP
dad-13359	271	2	this	this	DET
dad-13359	271	3	approach	approach	NOUN
dad-13359	271	4	,	,	PUNCT
dad-13359	271	5	both	both	DET
dad-13359	271	6	relations	relation	NOUN
dad-13359	271	7	between	between	ADP
dad-13359	271	8	nodes	node	NOUN
dad-13359	271	9	as	as	ADV
dad-13359	271	10	well	well	ADV
dad-13359	271	11	as	as	ADP
dad-13359	271	12	more	more	ADJ
dad-13359	271	13	complex	complex	ADJ
dad-13359	271	14	paths	path	NOUN
dad-13359	271	15	can	can	AUX
dad-13359	271	16	be	be	AUX
dad-13359	271	17	rendered	render	VERB
dad-13359	271	18	with	with	ADP
dad-13359	271	19	a	a	DET
dad-13359	271	20	natural	natural	ADJ
dad-13359	271	21	language	language	NOUN
dad-13359	271	22	description	description	NOUN
dad-13359	271	23	.	.	PUNCT
dad-13359	272	1	this	this	DET
dad-13359	272	2	traversal	traversal	NOUN
dad-13359	272	3	-	-	PUNCT
dad-13359	272	4	based	base	VERB
dad-13359	272	5	transformation	transformation	NOUN
dad-13359	272	6	is	be	AUX
dad-13359	272	7	a	a	DET
dad-13359	272	8	simple	simple	ADJ
dad-13359	272	9	means	mean	NOUN
dad-13359	272	10	to	to	PART
dad-13359	272	11	convert	convert	VERB
dad-13359	272	12	structured	structured	ADJ
dad-13359	272	13	information	information	NOUN
dad-13359	272	14	to	to	ADP
dad-13359	272	15	a	a	DET
dad-13359	272	16	form	form	NOUN
dad-13359	272	17	amenable	amenable	ADJ
dad-13359	272	18	to	to	ADP
dad-13359	272	19	an	an	DET
dad-13359	272	20	llm	llm	NOUN
dad-13359	272	21	.	.	PUNCT
dad-13359	273	1	to	to	PART
dad-13359	273	2	traverse	traverse	VERB
dad-13359	273	3	the	the	DET
dad-13359	273	4	graph	graph	NOUN
dad-13359	273	5	,	,	PUNCT
dad-13359	273	6	we	we	PRON
dad-13359	273	7	first	first	ADV
dad-13359	273	8	order	order	VERB
dad-13359	273	9	the	the	DET
dad-13359	273	10	nodes	node	NOUN
dad-13359	273	11	temporally	temporally	ADV
dad-13359	273	12	and	and	CCONJ
dad-13359	273	13	iterate	iterate	VERB
dad-13359	273	14	over	over	ADP
dad-13359	273	15	them	they	PRON
dad-13359	273	16	.	.	PUNCT
dad-13359	274	1	for	for	ADP
dad-13359	274	2	each	each	DET
dad-13359	274	3	node	node	NOUN
dad-13359	274	4	,	,	PUNCT
dad-13359	274	5	the	the	DET
dad-13359	274	6	node	node	NOUN
dad-13359	274	7	’s	’s	PART
dad-13359	274	8	type	type	NOUN
dad-13359	274	9	determines	determine	NOUN
dad-13359	274	10	which	which	DET
dad-13359	274	11	paths	path	NOUN
dad-13359	274	12	should	should	AUX
dad-13359	274	13	be	be	AUX
dad-13359	274	14	searched	search	VERB
dad-13359	274	15	for	for	ADP
dad-13359	274	16	in	in	ADP
dad-13359	274	17	its	its	PRON
dad-13359	274	18	neighborhood	neighborhood	NOUN
dad-13359	274	19	.	.	PUNCT
dad-13359	275	1	the	the	DET
dad-13359	275	2	traversal	traversal	NOUN
dad-13359	275	3	function	function	NOUN
dad-13359	275	4	then	then	ADV
dad-13359	275	5	collects	collect	VERB
dad-13359	275	6	ingoing	ingoe	VERB
dad-13359	275	7	and	and	CCONJ
dad-13359	275	8	outgoing	outgoing	ADJ
dad-13359	275	9	edges	edge	NOUN
dad-13359	275	10	along	along	ADP
dad-13359	275	11	with	with	ADP
dad-13359	275	12	the	the	DET
dad-13359	275	13	neighboring	neighboring	NOUN
dad-13359	275	14	nodes	node	NOUN
dad-13359	275	15	connected	connect	VERB
dad-13359	275	16	to	to	ADP
dad-13359	275	17	them	they	PRON
dad-13359	275	18	.	.	PUNCT
dad-13359	276	1	for	for	ADP
dad-13359	276	2	each	each	DET
dad-13359	276	3	node	node	ADJ
dad-13359	276	4	type	type	NOUN
dad-13359	276	5	,	,	PUNCT
dad-13359	276	6	the	the	DET
dad-13359	276	7	function	function	NOUN
dad-13359	276	8	defines	define	VERB
dad-13359	276	9	a	a	DET
dad-13359	276	10	set	set	NOUN
dad-13359	276	11	of	of	ADP
dad-13359	276	12	paths	path	NOUN
dad-13359	276	13	to	to	PART
dad-13359	276	14	traverse	traverse	VERB
dad-13359	276	15	by	by	ADP
dad-13359	276	16	searching	search	VERB
dad-13359	276	17	along	along	ADP
dad-13359	276	18	the	the	DET
dad-13359	276	19	ingoing	ingoing	NOUN
dad-13359	276	20	or	or	CCONJ
dad-13359	276	21	outgoing	outgoing	ADJ
dad-13359	276	22	edges	edge	NOUN
dad-13359	276	23	.	.	PUNCT
dad-13359	277	1	as	as	ADP
dad-13359	277	2	an	an	DET
dad-13359	277	3	example	example	NOUN
dad-13359	277	4	,	,	PUNCT
dad-13359	277	5	when	when	SCONJ
dad-13359	277	6	evaluating	evaluate	VERB
dad-13359	277	7	an	an	DET
dad-13359	277	8	“	"	PUNCT
dad-13359	277	9	entity	entity	NOUN
dad-13359	277	10	”	"	PUNCT
dad-13359	277	11	node	node	NOUN
dad-13359	277	12	,	,	PUNCT
dad-13359	277	13	paths	path	NOUN
dad-13359	277	14	containing	contain	VERB
dad-13359	277	15	an	an	DET
dad-13359	277	16	“	"	PUNCT
dad-13359	277	17	in	in	ADP
dad-13359	277	18	”	"	PUNCT
dad-13359	277	19	relation	relation	NOUN
dad-13359	277	20	from	from	ADP
dad-13359	277	21	the	the	DET
dad-13359	277	22	source	source	NOUN
dad-13359	277	23	node	node	NOUN
dad-13359	277	24	to	to	ADP
dad-13359	277	25	an	an	DET
dad-13359	277	26	image	image	NOUN
dad-13359	277	27	node	node	NOUN
dad-13359	277	28	with	with	ADP
dad-13359	277	29	a	a	DET
dad-13359	277	30	subsequent	subsequent	ADJ
dad-13359	277	31	“	"	PUNCT
dad-13359	277	32	in	in	ADP
dad-13359	277	33	location	location	NOUN
dad-13359	277	34	”	"	PUNCT
dad-13359	277	35	edge	edge	NOUN
dad-13359	277	36	to	to	ADP
dad-13359	277	37	a	a	DET
dad-13359	277	38	“	"	PUNCT
dad-13359	277	39	location	location	NOUN
dad-13359	277	40	”	"	PUNCT
dad-13359	277	41	node	node	NOUN
dad-13359	277	42	describes	describe	VERB
dad-13359	277	43	the	the	DET
dad-13359	277	44	location	location	NOUN
dad-13359	277	45	of	of	ADP
dad-13359	277	46	an	an	DET
dad-13359	277	47	object	object	NOUN
dad-13359	277	48	(	(	PUNCT
dad-13359	277	49	as	as	ADP
dad-13359	277	50	in	in	ADP
dad-13359	277	51	figure	figure	NOUN
dad-13359	277	52	2	2	NUM
dad-13359	277	53	)	)	PUNCT
dad-13359	277	54	.	.	PUNCT
dad-13359	278	1	thus	thus	ADV
dad-13359	278	2	,	,	PUNCT
dad-13359	278	3	the	the	DET
dad-13359	278	4	paths	path	NOUN
dad-13359	278	5	are	be	AUX
dad-13359	278	6	defined	define	VERB
dad-13359	278	7	in	in	ADP
dad-13359	278	8	terms	term	NOUN
dad-13359	278	9	of	of	ADP
dad-13359	278	10	which	which	PRON
dad-13359	278	11	edges	edge	NOUN
dad-13359	278	12	and	and	CCONJ
dad-13359	278	13	node	node	ADJ
dad-13359	278	14	types	type	NOUN
dad-13359	278	15	should	should	AUX
dad-13359	278	16	be	be	AUX
dad-13359	278	17	found	find	VERB
dad-13359	278	18	in	in	ADP
dad-13359	278	19	a	a	DET
dad-13359	278	20	given	give	VERB
dad-13359	278	21	sequence	sequence	NOUN
dad-13359	278	22	of	of	ADP
dad-13359	278	23	hops	hop	NOUN
dad-13359	278	24	in	in	ADP
dad-13359	278	25	the	the	DET
dad-13359	278	26	graph	graph	NOUN
dad-13359	278	27	.	.	PUNCT
dad-13359	279	1	the	the	DET
dad-13359	279	2	collection	collection	NOUN
dad-13359	279	3	of	of	ADP
dad-13359	279	4	these	these	DET
dad-13359	279	5	paths	path	NOUN
dad-13359	279	6	then	then	ADV
dad-13359	279	7	constitutes	constitute	VERB
dad-13359	279	8	a	a	DET
dad-13359	279	9	chronologically	chronologically	ADV
dad-13359	279	10	ordered	order	VERB
dad-13359	279	11	description	description	NOUN
dad-13359	279	12	of	of	ADP
dad-13359	279	13	the	the	DET
dad-13359	279	14	graph	graph	NOUN
dad-13359	279	15	.	.	PUNCT
dad-13359	280	1	node	node	ADJ
dad-13359	280	2	probabilities	probability	NOUN
dad-13359	280	3	are	be	AUX
dad-13359	280	4	also	also	ADV
dad-13359	280	5	recorded	record	VERB
dad-13359	280	6	during	during	ADP
dad-13359	280	7	the	the	DET
dad-13359	280	8	traversal	traversal	NOUN
dad-13359	280	9	.	.	PUNCT
dad-13359	281	1	the	the	DET
dad-13359	281	2	verbalization	verbalization	NOUN
dad-13359	281	3	process	process	NOUN
dad-13359	281	4	takes	take	VERB
dad-13359	281	5	the	the	DET
dad-13359	281	6	form	form	NOUN
dad-13359	281	7	of	of	ADP
dad-13359	281	8	a	a	DET
dad-13359	281	9	function	function	NOUN
dad-13359	281	10	that	that	PRON
dad-13359	281	11	converts	convert	VERB
dad-13359	281	12	the	the	DET
dad-13359	281	13	graph	graph	NOUN
dad-13359	281	14	into	into	ADP
dad-13359	281	15	a	a	DET
dad-13359	281	16	string	string	NOUN
dad-13359	281	17	according	accord	VERB
dad-13359	281	18	to	to	ADP
dad-13359	281	19	a	a	DET
dad-13359	281	20	set	set	NOUN
dad-13359	281	21	of	of	ADP
dad-13359	281	22	handcrafted	handcrafted	ADJ
dad-13359	281	23	parameters	parameter	NOUN
dad-13359	281	24	.	.	PUNCT
dad-13359	282	1	an	an	DET
dad-13359	282	2	example	example	NOUN
dad-13359	282	3	parameter	parameter	NOUN
dad-13359	282	4	is	be	AUX
dad-13359	282	5	that	that	SCONJ
dad-13359	282	6	the	the	DET
dad-13359	282	7	system	system	NOUN
dad-13359	282	8	may	may	AUX
dad-13359	282	9	reference	reference	VERB
dad-13359	282	10	itself	itself	PRON
dad-13359	282	11	within	within	ADP
dad-13359	282	12	the	the	DET
dad-13359	282	13	prompt	prompt	NOUN
dad-13359	282	14	,	,	PUNCT
dad-13359	282	15	such	such	ADJ
dad-13359	282	16	as	as	ADP
dad-13359	282	17	first	first	ADJ
dad-13359	282	18	or	or	CCONJ
dad-13359	282	19	third	third	ADJ
dad-13359	282	20	person	person	NOUN
dad-13359	282	21	pronouns	pronoun	NOUN
dad-13359	282	22	,	,	PUNCT
dad-13359	282	23	or	or	CCONJ
dad-13359	282	24	a	a	DET
dad-13359	282	25	name	name	NOUN
dad-13359	282	26	.	.	PUNCT
dad-13359	283	1	depending	depend	VERB
dad-13359	283	2	on	on	ADP
dad-13359	283	3	this	this	DET
dad-13359	283	4	parameter	parameter	NOUN
dad-13359	283	5	,	,	PUNCT
dad-13359	283	6	the	the	DET
dad-13359	283	7	description	description	NOUN
dad-13359	283	8	of	of	ADP
dad-13359	283	9	the	the	DET
dad-13359	283	10	graph	graph	NOUN
dad-13359	283	11	will	will	AUX
dad-13359	283	12	then	then	ADV
dad-13359	283	13	summarize	summarize	VERB
dad-13359	283	14	the	the	DET
dad-13359	283	15	information	information	NOUN
dad-13359	283	16	from	from	ADP
dad-13359	283	17	either	either	CCONJ
dad-13359	283	18	a	a	DET
dad-13359	283	19	personal	personal	ADJ
dad-13359	283	20	or	or	CCONJ
dad-13359	283	21	71	71	NUM
dad-13359	283	22	walker	walker	NOUN
dad-13359	283	23	,	,	PUNCT
dad-13359	283	24	ultes	ulte	NOUN
dad-13359	283	25	and	and	CCONJ
dad-13359	283	26	lison	lison	NOUN
dad-13359	283	27	parameter	parameter	NOUN
dad-13359	283	28	values	value	VERB
dad-13359	283	29	how	how	SCONJ
dad-13359	283	30	the	the	DET
dad-13359	283	31	agent	agent	NOUN
dad-13359	283	32	refers	refer	VERB
dad-13359	283	33	to	to	ADP
dad-13359	283	34	itself	itself	PRON
dad-13359	283	35	“	"	PUNCT
dad-13359	283	36	pepper	pepper	NOUN
dad-13359	283	37	”	"	PUNCT
dad-13359	283	38	,	,	PUNCT
dad-13359	283	39	“	"	PUNCT
dad-13359	283	40	the	the	DET
dad-13359	283	41	robot	robot	NOUN
dad-13359	283	42	”	"	PUNCT
dad-13359	283	43	,	,	PUNCT
dad-13359	283	44	“	"	PUNCT
dad-13359	283	45	i	i	PRON
dad-13359	283	46	”	"	PUNCT
dad-13359	283	47	whether	whether	SCONJ
dad-13359	283	48	to	to	PART
dad-13359	283	49	include	include	VERB
dad-13359	283	50	discourse	discourse	NOUN
dad-13359	283	51	markers	marker	NOUN
dad-13359	283	52	between	between	ADP
dad-13359	283	53	sentences	sentence	NOUN
dad-13359	283	54	true	true	ADJ
dad-13359	283	55	—	—	PUNCT
dad-13359	283	56	false	false	ADJ
dad-13359	283	57	how	how	SCONJ
dad-13359	283	58	to	to	PART
dad-13359	283	59	specify	specify	VERB
dad-13359	283	60	distance	distance	NOUN
dad-13359	283	61	(	(	PUNCT
dad-13359	283	62	in	in	ADP
dad-13359	283	63	meters	meter	NOUN
dad-13359	283	64	)	)	PUNCT
dad-13359	283	65	“	"	PUNCT
dad-13359	283	66	precise	precise	ADJ
dad-13359	283	67	”	"	PUNCT
dad-13359	283	68	,	,	PUNCT
dad-13359	283	69	“	"	PUNCT
dad-13359	283	70	rounding	round	VERB
dad-13359	283	71	”	"	PUNCT
dad-13359	283	72	,	,	PUNCT
dad-13359	283	73	“	"	PUNCT
dad-13359	283	74	none	none	NOUN
dad-13359	283	75	”	"	PUNCT
dad-13359	283	76	whether	whether	SCONJ
dad-13359	283	77	to	to	PART
dad-13359	283	78	specify	specify	VERB
dad-13359	283	79	rotation	rotation	NOUN
dad-13359	283	80	angle	angle	NOUN
dad-13359	283	81	(	(	PUNCT
dad-13359	283	82	in	in	ADP
dad-13359	283	83	degrees	degree	NOUN
dad-13359	283	84	)	)	PUNCT
dad-13359	283	85	true	true	ADJ
dad-13359	283	86	—	—	PUNCT
dad-13359	283	87	false	false	ADJ
dad-13359	283	88	whether	whether	SCONJ
dad-13359	283	89	to	to	PART
dad-13359	283	90	include	include	VERB
dad-13359	283	91	low	low	ADJ
dad-13359	283	92	-	-	PUNCT
dad-13359	283	93	probability	probability	NOUN
dad-13359	283	94	entities	entity	NOUN
dad-13359	283	95	in	in	ADP
dad-13359	283	96	description	description	NOUN
dad-13359	283	97	true	true	ADJ
dad-13359	283	98	—	—	PUNCT
dad-13359	283	99	false	false	ADJ
dad-13359	283	100	whether	whether	SCONJ
dad-13359	283	101	to	to	PART
dad-13359	283	102	include	include	VERB
dad-13359	283	103	time	time	NOUN
dad-13359	283	104	in	in	ADP
dad-13359	283	105	description	description	NOUN
dad-13359	283	106	true	true	ADJ
dad-13359	283	107	—	—	PUNCT
dad-13359	283	108	false	false	ADJ
dad-13359	283	109	whether	whether	SCONJ
dad-13359	283	110	to	to	PART
dad-13359	283	111	mention	mention	VERB
dad-13359	283	112	the	the	DET
dad-13359	283	113	total	total	ADJ
dad-13359	283	114	number	number	NOUN
dad-13359	283	115	of	of	ADP
dad-13359	283	116	turns	turn	NOUN
dad-13359	283	117	true	true	ADJ
dad-13359	283	118	—	—	PUNCT
dad-13359	283	119	false	false	ADJ
dad-13359	283	120	table	table	NOUN
dad-13359	283	121	1	1	NUM
dad-13359	283	122	:	:	PUNCT
dad-13359	283	123	parameter	parameter	NOUN
dad-13359	283	124	values	value	NOUN
dad-13359	283	125	for	for	ADP
dad-13359	283	126	the	the	DET
dad-13359	283	127	verbalization	verbalization	NOUN
dad-13359	283	128	function	function	NOUN
dad-13359	283	129	.	.	PUNCT
dad-13359	284	1	each	each	DET
dad-13359	284	2	parameter	parameter	NOUN
dad-13359	284	3	specifies	specify	VERB
dad-13359	284	4	an	an	DET
dad-13359	284	5	aspect	aspect	NOUN
dad-13359	284	6	of	of	ADP
dad-13359	284	7	the	the	DET
dad-13359	284	8	verbalization	verbalization	NOUN
dad-13359	284	9	.	.	PUNCT
dad-13359	285	1	bold	bold	ADJ
dad-13359	285	2	values	value	NOUN
dad-13359	285	3	indicate	indicate	VERB
dad-13359	285	4	the	the	DET
dad-13359	285	5	parameter	parameter	NOUN
dad-13359	285	6	values	value	NOUN
dad-13359	285	7	selected	select	VERB
dad-13359	285	8	by	by	ADP
dad-13359	285	9	optimization	optimization	NOUN
dad-13359	285	10	.	.	PUNCT
dad-13359	286	1	impersonal	impersonal	ADJ
dad-13359	286	2	perspective	perspective	NOUN
dad-13359	286	3	with	with	ADP
dad-13359	286	4	respect	respect	NOUN
dad-13359	286	5	to	to	ADP
dad-13359	286	6	the	the	DET
dad-13359	286	7	dialogue	dialogue	NOUN
dad-13359	286	8	agent	agent	NOUN
dad-13359	286	9	.	.	PUNCT
dad-13359	287	1	as	as	SCONJ
dad-13359	287	2	illustrated	illustrate	VERB
dad-13359	287	3	in	in	ADP
dad-13359	287	4	table	table	NOUN
dad-13359	287	5	1	1	NUM
dad-13359	287	6	,	,	PUNCT
dad-13359	287	7	the	the	DET
dad-13359	287	8	verbalization	verbalization	NOUN
dad-13359	287	9	function	function	NOUN
dad-13359	287	10	employed	employ	VERB
dad-13359	287	11	in	in	ADP
dad-13359	287	12	our	our	PRON
dad-13359	287	13	experiments	experiment	NOUN
dad-13359	287	14	also	also	ADV
dad-13359	287	15	included	include	VERB
dad-13359	287	16	parameters	parameter	NOUN
dad-13359	287	17	related	relate	VERB
dad-13359	287	18	to	to	ADP
dad-13359	287	19	the	the	DET
dad-13359	287	20	use	use	NOUN
dad-13359	287	21	of	of	ADP
dad-13359	287	22	discourse	discourse	NOUN
dad-13359	287	23	markers	marker	NOUN
dad-13359	287	24	,	,	PUNCT
dad-13359	287	25	the	the	DET
dad-13359	287	26	inclusion	inclusion	NOUN
dad-13359	287	27	of	of	ADP
dad-13359	287	28	low	low	ADJ
dad-13359	287	29	-	-	PUNCT
dad-13359	287	30	probability	probability	NOUN
dad-13359	287	31	entities	entity	NOUN
dad-13359	287	32	in	in	ADP
dad-13359	287	33	the	the	DET
dad-13359	287	34	description	description	NOUN
dad-13359	287	35	,	,	PUNCT
dad-13359	287	36	or	or	CCONJ
dad-13359	287	37	how	how	SCONJ
dad-13359	287	38	to	to	PART
dad-13359	287	39	express	express	VERB
dad-13359	287	40	distances	distance	NOUN
dad-13359	287	41	,	,	PUNCT
dad-13359	287	42	angles	angle	NOUN
dad-13359	287	43	,	,	PUNCT
dad-13359	287	44	and	and	CCONJ
dad-13359	287	45	time	time	NOUN
dad-13359	287	46	.	.	PUNCT
dad-13359	288	1	an	an	DET
dad-13359	288	2	abbreviated	abbreviate	VERB
dad-13359	288	3	document	document	NOUN
dad-13359	288	4	from	from	ADP
dad-13359	288	5	our	our	PRON
dad-13359	288	6	study	study	NOUN
dad-13359	288	7	data	datum	NOUN
dad-13359	288	8	is	be	AUX
dad-13359	288	9	shown	show	VERB
dad-13359	288	10	in	in	ADP
dad-13359	288	11	figure	figure	NOUN
dad-13359	288	12	4	4	NUM
dad-13359	288	13	,	,	PUNCT
dad-13359	288	14	along	along	ADP
dad-13359	288	15	with	with	ADP
dad-13359	288	16	the	the	DET
dad-13359	288	17	triple	triple	ADJ
dad-13359	288	18	-	-	PUNCT
dad-13359	288	19	structured	structure	VERB
dad-13359	288	20	document	document	NOUN
dad-13359	288	21	for	for	ADP
dad-13359	288	22	comparison	comparison	NOUN
dad-13359	288	23	.	.	PUNCT
dad-13359	289	1	3.3.2	3.3.2	NUM
dad-13359	289	2	parameter	parameter	NOUN
dad-13359	289	3	selection	selection	NOUN
dad-13359	289	4	as	as	SCONJ
dad-13359	289	5	mentioned	mention	VERB
dad-13359	289	6	above	above	ADV
dad-13359	289	7	,	,	PUNCT
dad-13359	289	8	the	the	DET
dad-13359	289	9	transformation	transformation	NOUN
dad-13359	289	10	of	of	ADP
dad-13359	289	11	the	the	DET
dad-13359	289	12	graph	graph	NOUN
dad-13359	289	13	to	to	ADP
dad-13359	289	14	a	a	DET
dad-13359	289	15	text	text	NOUN
dad-13359	289	16	document	document	NOUN
dad-13359	289	17	is	be	AUX
dad-13359	289	18	a	a	DET
dad-13359	289	19	parameterized	parameterized	ADJ
dad-13359	289	20	function	function	NOUN
dad-13359	289	21	.	.	PUNCT
dad-13359	290	1	to	to	PART
dad-13359	290	2	select	select	VERB
dad-13359	290	3	the	the	DET
dad-13359	290	4	best	good	ADJ
dad-13359	290	5	set	set	NOUN
dad-13359	290	6	of	of	ADP
dad-13359	290	7	parameters	parameter	NOUN
dad-13359	290	8	for	for	ADP
dad-13359	290	9	the	the	DET
dad-13359	290	10	task	task	NOUN
dad-13359	290	11	,	,	PUNCT
dad-13359	290	12	we	we	PRON
dad-13359	290	13	optimize	optimize	VERB
dad-13359	290	14	the	the	DET
dad-13359	290	15	parameters	parameter	NOUN
dad-13359	290	16	with	with	ADP
dad-13359	290	17	respect	respect	NOUN
dad-13359	290	18	to	to	ADP
dad-13359	290	19	the	the	DET
dad-13359	290	20	output	output	NOUN
dad-13359	290	21	of	of	ADP
dad-13359	290	22	a	a	DET
dad-13359	290	23	llama	llama	ADJ
dad-13359	290	24	language	language	NOUN
dad-13359	290	25	model	model	NOUN
dad-13359	290	26	(	(	PUNCT
dad-13359	290	27	touvron	touvron	NOUN
dad-13359	290	28	et	et	PROPN
dad-13359	290	29	al	al	PROPN
dad-13359	290	30	.	.	PROPN
dad-13359	290	31	,	,	PUNCT
dad-13359	290	32	2023	2023	NUM
dad-13359	290	33	)	)	PUNCT
dad-13359	290	34	,	,	PUNCT
dad-13359	290	35	such	such	ADJ
dad-13359	290	36	that	that	SCONJ
dad-13359	290	37	the	the	DET
dad-13359	290	38	model	model	NOUN
dad-13359	290	39	assigns	assign	VERB
dad-13359	290	40	the	the	DET
dad-13359	290	41	highest	high	ADJ
dad-13359	290	42	probability	probability	NOUN
dad-13359	290	43	to	to	ADP
dad-13359	290	44	the	the	DET
dad-13359	290	45	correct	correct	ADJ
dad-13359	290	46	response	response	NOUN
dad-13359	290	47	out	out	ADP
dad-13359	290	48	of	of	ADP
dad-13359	290	49	a	a	DET
dad-13359	290	50	set	set	NOUN
dad-13359	290	51	of	of	ADP
dad-13359	290	52	candidate	candidate	NOUN
dad-13359	290	53	responses	response	NOUN
dad-13359	290	54	across	across	ADP
dad-13359	290	55	dialogues	dialogue	NOUN
dad-13359	290	56	.	.	PUNCT
dad-13359	291	1	for	for	ADP
dad-13359	291	2	this	this	DET
dad-13359	291	3	purpose	purpose	NOUN
dad-13359	291	4	,	,	PUNCT
dad-13359	291	5	we	we	PRON
dad-13359	291	6	collect	collect	VERB
dad-13359	291	7	a	a	DET
dad-13359	291	8	small	small	ADJ
dad-13359	291	9	set	set	NOUN
dad-13359	291	10	of	of	ADP
dad-13359	291	11	wizard	wizard	NOUN
dad-13359	291	12	-	-	PUNCT
dad-13359	291	13	of	of	ADP
dad-13359	291	14	-	-	PUNCT
dad-13359	291	15	oz	oz	NOUN
dad-13359	291	16	interactions	interaction	NOUN
dad-13359	291	17	,	,	PUNCT
dad-13359	291	18	each	each	DET
dad-13359	291	19	response	response	NOUN
dad-13359	291	20	from	from	ADP
dad-13359	291	21	the	the	DET
dad-13359	291	22	wizard	wizard	NOUN
dad-13359	291	23	being	be	AUX
dad-13359	291	24	associated	associate	VERB
dad-13359	291	25	with	with	ADP
dad-13359	291	26	a	a	DET
dad-13359	291	27	corresponding	corresponding	ADJ
dad-13359	291	28	dialogue	dialogue	NOUN
dad-13359	291	29	state	state	NOUN
dad-13359	291	30	graphs	graph	NOUN
dad-13359	291	31	(	(	PUNCT
dad-13359	291	32	which	which	PRON
dad-13359	291	33	include	include	VERB
dad-13359	291	34	sample	sample	NOUN
dad-13359	291	35	locations	location	NOUN
dad-13359	291	36	and	and	CCONJ
dad-13359	291	37	entities	entity	NOUN
dad-13359	291	38	along	along	ADP
dad-13359	291	39	with	with	ADP
dad-13359	291	40	the	the	DET
dad-13359	291	41	dialogue	dialogue	NOUN
dad-13359	291	42	history	history	NOUN
dad-13359	291	43	)	)	PUNCT
dad-13359	291	44	.	.	PUNCT
dad-13359	292	1	formally	formally	ADV
dad-13359	292	2	,	,	PUNCT
dad-13359	292	3	let	let	AUX
dad-13359	292	4	vp(g	vp(g	NUM
dad-13359	292	5	)	)	PUNCT
dad-13359	292	6	denote	denote	VERB
dad-13359	292	7	a	a	DET
dad-13359	292	8	graph	graph	NOUN
dad-13359	292	9	-	-	PUNCT
dad-13359	292	10	to	to	ADP
dad-13359	292	11	-	-	PUNCT
dad-13359	292	12	text	text	NOUN
dad-13359	292	13	function	function	NOUN
dad-13359	292	14	where	where	SCONJ
dad-13359	292	15	g	g	PROPN
dad-13359	292	16	is	be	AUX
dad-13359	292	17	a	a	DET
dad-13359	292	18	knowledge	knowledge	NOUN
dad-13359	292	19	graph	graph	NOUN
dad-13359	292	20	and	and	CCONJ
dad-13359	292	21	p	p	X
dad-13359	292	22	a	a	DET
dad-13359	292	23	set	set	NOUN
dad-13359	292	24	of	of	ADP
dad-13359	292	25	categorical	categorical	ADJ
dad-13359	292	26	parameters	parameter	NOUN
dad-13359	292	27	,	,	PUNCT
dad-13359	292	28	and	and	CCONJ
dad-13359	292	29	let	let	VERB
dad-13359	292	30	d	d	NOUN
dad-13359	292	31	=	=	PRON
dad-13359	292	32	{	{	PUNCT
dad-13359	292	33	(	(	PUNCT
dad-13359	292	34	gi	gi	INTJ
dad-13359	292	35	,	,	PUNCT
dad-13359	292	36	ri	ri	PROPN
dad-13359	292	37	)	)	PUNCT
dad-13359	292	38	,	,	PUNCT
dad-13359	292	39	1	1	NUM
dad-13359	292	40	≤	≤	NUM
dad-13359	292	41	i	i	PRON
dad-13359	292	42	≤	≤	PROPN
dad-13359	292	43	n	n	CCONJ
dad-13359	292	44	}	}	PUNCT
dad-13359	292	45	denote	denote	VERB
dad-13359	292	46	the	the	DET
dad-13359	292	47	recorded	record	VERB
dad-13359	292	48	set	set	NOUN
dad-13359	292	49	of	of	ADP
dad-13359	292	50	n	n	DET
dad-13359	292	51	wizard	wizard	NOUN
dad-13359	292	52	-	-	PUNCT
dad-13359	292	53	of	of	ADP
dad-13359	292	54	-	-	PUNCT
dad-13359	292	55	oz	oz	NOUN
dad-13359	292	56	responses	response	NOUN
dad-13359	292	57	ri	ri	PROPN
dad-13359	292	58	in	in	ADP
dad-13359	292	59	a	a	DET
dad-13359	292	60	conversational	conversational	ADJ
dad-13359	292	61	context	context	NOUN
dad-13359	292	62	represented	represent	VERB
dad-13359	292	63	by	by	ADP
dad-13359	292	64	its	its	PRON
dad-13359	292	65	dialogue	dialogue	NOUN
dad-13359	292	66	state	state	NOUN
dad-13359	292	67	graph	graph	NOUN
dad-13359	292	68	gi	gi	NOUN
dad-13359	292	69	.	.	PUNCT
dad-13359	293	1	we	we	PRON
dad-13359	293	2	then	then	ADV
dad-13359	293	3	search	search	VERB
dad-13359	293	4	for	for	ADP
dad-13359	293	5	an	an	DET
dad-13359	293	6	optimal	optimal	ADJ
dad-13359	293	7	set	set	NOUN
dad-13359	293	8	of	of	ADP
dad-13359	293	9	parameter	parameter	NOUN
dad-13359	293	10	values	value	NOUN
dad-13359	293	11	p∗	p∗	ADJ
dad-13359	293	12	that	that	PRON
dad-13359	293	13	minimizes	minimize	VERB
dad-13359	293	14	the	the	DET
dad-13359	293	15	cross	cross	ADJ
dad-13359	293	16	-	-	ADJ
dad-13359	293	17	entropy	entropy	ADJ
dad-13359	293	18	loss	loss	NOUN
dad-13359	293	19	over	over	ADP
dad-13359	293	20	the	the	DET
dad-13359	293	21	wizard	wizard	NOUN
dad-13359	293	22	-	-	PUNCT
dad-13359	293	23	of	of	ADP
dad-13359	293	24	-	-	PUNCT
dad-13359	293	25	oz	oz	NOUN
dad-13359	293	26	examples	example	NOUN
dad-13359	293	27	,	,	PUNCT
dad-13359	293	28	assuming	assume	VERB
dad-13359	293	29	a	a	DET
dad-13359	293	30	fixed	fix	VERB
dad-13359	293	31	language	language	NOUN
dad-13359	293	32	model	model	NOUN
dad-13359	293	33	llm	llm	PROPN
dad-13359	293	34	:	:	PUNCT
dad-13359	294	1	p∗	p∗	PROPN
dad-13359	294	2	=	=	SYM
dad-13359	294	3	argmin	argmin	NOUN
dad-13359	294	4	p	p	PROPN
dad-13359	294	5	lce(d	lce(d	PROPN
dad-13359	294	6	;	;	PUNCT
dad-13359	294	7	llm	llm	PROPN
dad-13359	294	8	,	,	PUNCT
dad-13359	294	9	p	p	NOUN
dad-13359	294	10	)	)	PUNCT
dad-13359	294	11	(	(	PUNCT
dad-13359	294	12	1	1	X
dad-13359	294	13	)	)	PUNCT
dad-13359	294	14	where	where	SCONJ
dad-13359	294	15	the	the	DET
dad-13359	294	16	cross	cross	ADJ
dad-13359	294	17	-	-	ADJ
dad-13359	294	18	entropy	entropy	ADJ
dad-13359	294	19	loss	loss	NOUN
dad-13359	294	20	is	be	AUX
dad-13359	294	21	itself	itself	PRON
dad-13359	294	22	defined	define	VERB
dad-13359	294	23	as	as	ADP
dad-13359	294	24	:	:	PUNCT
dad-13359	294	25	lce(d	lce(d	PROPN
dad-13359	294	26	;	;	PUNCT
dad-13359	294	27	llm	llm	PROPN
dad-13359	294	28	,	,	PUNCT
dad-13359	294	29	p	p	NOUN
dad-13359	294	30	)	)	PUNCT
dad-13359	294	31	=	=	SYM
dad-13359	295	1	−	−	PROPN
dad-13359	295	2	1	1	NUM
dad-13359	295	3	n	n	NOUN
dad-13359	295	4	∑	∑	DET
dad-13359	295	5	(	(	PUNCT
dad-13359	295	6	gi	gi	INTJ
dad-13359	295	7	,	,	PUNCT
dad-13359	295	8	ri)∈d	ri)∈d	PROPN
dad-13359	295	9	logpllm(ri	logpllm(ri	NOUN
dad-13359	295	10	|	|	ADV
dad-13359	295	11	vp(gi	vp(gi	PROPN
dad-13359	295	12	)	)	PUNCT
dad-13359	295	13	)	)	PUNCT
dad-13359	296	1	(	(	PUNCT
dad-13359	296	2	2	2	X
dad-13359	296	3	)	)	PUNCT
dad-13359	296	4	the	the	DET
dad-13359	296	5	optimization	optimization	NOUN
dad-13359	296	6	is	be	AUX
dad-13359	296	7	performed	perform	VERB
dad-13359	296	8	using	use	VERB
dad-13359	296	9	a	a	DET
dad-13359	296	10	tree	tree	NOUN
dad-13359	296	11	-	-	PUNCT
dad-13359	296	12	structured	structure	VERB
dad-13359	296	13	parzen	parzen	NOUN
dad-13359	296	14	estimator	estimator	NOUN
dad-13359	296	15	algorithm	algorithm	NOUN
dad-13359	296	16	(	(	PUNCT
dad-13359	296	17	bergstra	bergstra	PROPN
dad-13359	296	18	et	et	PROPN
dad-13359	296	19	al	al	PROPN
dad-13359	296	20	.	.	PROPN
dad-13359	296	21	,	,	PUNCT
dad-13359	296	22	2011	2011	NUM
dad-13359	296	23	)	)	PUNCT
dad-13359	296	24	,	,	PUNCT
dad-13359	296	25	as	as	SCONJ
dad-13359	296	26	implemented	implement	VERB
dad-13359	296	27	in	in	ADP
dad-13359	296	28	the	the	DET
dad-13359	296	29	optuna	optuna	ADJ
dad-13359	296	30	package	package	NOUN
dad-13359	296	31	for	for	ADP
dad-13359	296	32	efficient	efficient	ADJ
dad-13359	296	33	hyper	hyper	ADJ
dad-13359	296	34	-	-	ADJ
dad-13359	296	35	parameter	parameter	ADJ
dad-13359	296	36	optimization	optimization	NOUN
dad-13359	296	37	(	(	PUNCT
dad-13359	296	38	akiba	akiba	PROPN
dad-13359	296	39	et	et	PROPN
dad-13359	296	40	al	al	PROPN
dad-13359	296	41	.	.	PROPN
dad-13359	296	42	,	,	PUNCT
dad-13359	296	43	2019	2019	NUM
dad-13359	296	44	)	)	PUNCT
dad-13359	296	45	.	.	PUNCT
dad-13359	297	1	using	use	VERB
dad-13359	297	2	the	the	DET
dad-13359	297	3	above	above	ADJ
dad-13359	297	4	approach	approach	NOUN
dad-13359	297	5	,	,	PUNCT
dad-13359	297	6	we	we	PRON
dad-13359	297	7	are	be	AUX
dad-13359	297	8	able	able	ADJ
dad-13359	297	9	to	to	PART
dad-13359	297	10	optimize	optimize	VERB
dad-13359	297	11	the	the	DET
dad-13359	297	12	categorical	categorical	ADJ
dad-13359	297	13	parameters	parameter	NOUN
dad-13359	297	14	and	and	CCONJ
dad-13359	297	15	adjust	adjust	VERB
dad-13359	297	16	the	the	DET
dad-13359	297	17	verbalization	verbalization	NOUN
dad-13359	297	18	function	function	NOUN
dad-13359	297	19	with	with	ADP
dad-13359	297	20	only	only	ADV
dad-13359	297	21	a	a	DET
dad-13359	297	22	few	few	ADJ
dad-13359	297	23	example	example	NOUN
dad-13359	297	24	responses	response	NOUN
dad-13359	297	25	from	from	ADP
dad-13359	297	26	a	a	DET
dad-13359	297	27	wizard	wizard	NOUN
dad-13359	297	28	.	.	PUNCT
dad-13359	298	1	72	72	NUM
dad-13359	299	1	a	a	DET
dad-13359	299	2	graph	graph	NOUN
dad-13359	299	3	-	-	PUNCT
dad-13359	299	4	to	to	ADP
dad-13359	299	5	-	-	PUNCT
dad-13359	299	6	text	text	NOUN
dad-13359	299	7	approach	approach	NOUN
dad-13359	299	8	to	to	ADP
dad-13359	299	9	knowledge	knowledge	NOUN
dad-13359	299	10	-	-	PUNCT
dad-13359	299	11	grounded	ground	VERB
dad-13359	299	12	response	response	NOUN
dad-13359	299	13	generation	generation	NOUN
dad-13359	299	14	in	in	ADP
dad-13359	299	15	hri	hri	PROPN
dad-13359	299	16	3.4	3.4	NUM
dad-13359	299	17	response	response	NOUN
dad-13359	299	18	generation	generation	NOUN
dad-13359	299	19	the	the	DET
dad-13359	299	20	final	final	ADJ
dad-13359	299	21	component	component	NOUN
dad-13359	299	22	of	of	ADP
dad-13359	299	23	the	the	DET
dad-13359	299	24	proposed	propose	VERB
dad-13359	299	25	approach	approach	NOUN
dad-13359	299	26	is	be	AUX
dad-13359	299	27	the	the	DET
dad-13359	299	28	actual	actual	ADJ
dad-13359	299	29	response	response	NOUN
dad-13359	299	30	generation	generation	NOUN
dad-13359	299	31	.	.	PUNCT
dad-13359	300	1	as	as	SCONJ
dad-13359	300	2	already	already	ADV
dad-13359	300	3	mentioned	mention	VERB
dad-13359	300	4	,	,	PUNCT
dad-13359	300	5	this	this	DET
dad-13359	300	6	response	response	NOUN
dad-13359	300	7	is	be	AUX
dad-13359	300	8	generated	generate	VERB
dad-13359	300	9	using	use	VERB
dad-13359	300	10	a	a	DET
dad-13359	300	11	large	large	ADJ
dad-13359	300	12	language	language	NOUN
dad-13359	300	13	model	model	NOUN
dad-13359	300	14	optimized	optimize	VERB
dad-13359	300	15	for	for	ADP
dad-13359	300	16	dialogue	dialogue	NOUN
dad-13359	300	17	use	use	NOUN
dad-13359	300	18	cases	case	NOUN
dad-13359	300	19	.	.	PUNCT
dad-13359	301	1	in	in	ADP
dad-13359	301	2	our	our	PRON
dad-13359	301	3	experiments	experiment	NOUN
dad-13359	301	4	,	,	PUNCT
dad-13359	301	5	those	those	DET
dad-13359	301	6	language	language	NOUN
dad-13359	301	7	models	model	NOUN
dad-13359	301	8	were	be	AUX
dad-13359	301	9	respectively	respectively	ADV
dad-13359	301	10	based	base	VERB
dad-13359	301	11	on	on	ADP
dad-13359	301	12	gpt-4	gpt-4	X
dad-13359	301	13	(	(	PUNCT
dad-13359	301	14	openai	openai	PROPN
dad-13359	301	15	,	,	PUNCT
dad-13359	301	16	2023	2023	NUM
dad-13359	301	17	)	)	PUNCT
dad-13359	301	18	and	and	CCONJ
dad-13359	301	19	the	the	DET
dad-13359	301	20	llama-2	llama-2	PROPN
dad-13359	301	21	chat	chat	NOUN
dad-13359	301	22	model	model	NOUN
dad-13359	301	23	(	(	PUNCT
dad-13359	301	24	touvron	touvron	NOUN
dad-13359	301	25	et	et	PROPN
dad-13359	301	26	al	al	PROPN
dad-13359	301	27	.	.	PROPN
dad-13359	301	28	,	,	PUNCT
dad-13359	301	29	2023	2023	NUM
dad-13359	301	30	)	)	PUNCT
dad-13359	301	31	.	.	PUNCT
dad-13359	302	1	the	the	DET
dad-13359	302	2	response	response	NOUN
dad-13359	302	3	is	be	AUX
dad-13359	302	4	generated	generate	VERB
dad-13359	302	5	based	base	VERB
dad-13359	302	6	on	on	ADP
dad-13359	302	7	a	a	DET
dad-13359	302	8	prompt	prompt	NOUN
dad-13359	302	9	that	that	PRON
dad-13359	302	10	includes	include	VERB
dad-13359	302	11	the	the	DET
dad-13359	302	12	verbalized	verbalize	VERB
dad-13359	302	13	graph	graph	NOUN
dad-13359	302	14	along	along	ADP
dad-13359	302	15	with	with	ADP
dad-13359	302	16	:	:	PUNCT
dad-13359	302	17	•	•	ADP
dad-13359	302	18	a	a	DET
dad-13359	302	19	short	short	ADJ
dad-13359	302	20	,	,	PUNCT
dad-13359	302	21	generic	generic	ADJ
dad-13359	302	22	instruction	instruction	NOUN
dad-13359	302	23	text	text	NOUN
dad-13359	302	24	that	that	SCONJ
dad-13359	302	25	details	detail	VERB
dad-13359	302	26	how	how	SCONJ
dad-13359	302	27	the	the	DET
dad-13359	302	28	robot	robot	NOUN
dad-13359	302	29	should	should	AUX
dad-13359	302	30	respond	respond	VERB
dad-13359	302	31	to	to	ADP
dad-13359	302	32	the	the	DET
dad-13359	302	33	user	user	NOUN
dad-13359	302	34	utterances	utterance	NOUN
dad-13359	302	35	,	,	PUNCT
dad-13359	302	36	and	and	CCONJ
dad-13359	302	37	stress	stress	NOUN
dad-13359	302	38	in	in	ADP
dad-13359	302	39	particular	particular	ADJ
dad-13359	302	40	that	that	SCONJ
dad-13359	302	41	the	the	DET
dad-13359	302	42	robot	robot	NOUN
dad-13359	302	43	responses	response	NOUN
dad-13359	302	44	should	should	AUX
dad-13359	302	45	all	all	PRON
dad-13359	302	46	be	be	AUX
dad-13359	302	47	grounded	ground	VERB
dad-13359	302	48	in	in	ADP
dad-13359	302	49	the	the	DET
dad-13359	302	50	observations	observation	NOUN
dad-13359	302	51	expressed	express	VERB
dad-13359	302	52	in	in	ADP
dad-13359	302	53	the	the	DET
dad-13359	302	54	verbalized	verbalize	VERB
dad-13359	302	55	graph	graph	NOUN
dad-13359	302	56	.	.	PUNCT
dad-13359	303	1	•	•	NUM
dad-13359	303	2	a	a	DET
dad-13359	303	3	short	short	ADJ
dad-13359	303	4	list	list	NOUN
dad-13359	303	5	of	of	ADP
dad-13359	303	6	example	example	NOUN
dad-13359	303	7	responses	response	NOUN
dad-13359	303	8	from	from	ADP
dad-13359	303	9	the	the	DET
dad-13359	303	10	wizard	wizard	NOUN
dad-13359	303	11	-	-	PUNCT
dad-13359	303	12	of	of	ADP
dad-13359	303	13	-	-	PUNCT
dad-13359	303	14	oz	oz	NOUN
dad-13359	303	15	interactions	interaction	NOUN
dad-13359	303	16	to	to	PART
dad-13359	303	17	take	take	VERB
dad-13359	303	18	advantage	advantage	NOUN
dad-13359	303	19	of	of	ADP
dad-13359	303	20	incontext	incontext	NOUN
dad-13359	303	21	learning	learning	NOUN
dad-13359	303	22	(	(	PUNCT
dad-13359	303	23	brown	brown	PROPN
dad-13359	303	24	et	et	PROPN
dad-13359	303	25	al	al	PROPN
dad-13359	303	26	.	.	PROPN
dad-13359	303	27	,	,	PUNCT
dad-13359	303	28	2020	2020	NUM
dad-13359	303	29	;	;	PUNCT
dad-13359	303	30	wei	wei	PROPN
dad-13359	303	31	et	et	PROPN
dad-13359	303	32	al	al	PROPN
dad-13359	303	33	.	.	PROPN
dad-13359	303	34	,	,	PUNCT
dad-13359	303	35	2022	2022	NUM
dad-13359	303	36	)	)	PUNCT
dad-13359	303	37	and	and	CCONJ
dad-13359	303	38	provide	provide	VERB
dad-13359	303	39	cues	cue	NOUN
dad-13359	303	40	about	about	ADP
dad-13359	303	41	how	how	SCONJ
dad-13359	303	42	responses	response	NOUN
dad-13359	303	43	are	be	AUX
dad-13359	303	44	expected	expect	VERB
dad-13359	303	45	to	to	PART
dad-13359	303	46	be	be	AUX
dad-13359	303	47	formulated	formulate	VERB
dad-13359	303	48	.	.	PUNCT
dad-13359	304	1	once	once	ADV
dad-13359	304	2	decoding	decode	VERB
dad-13359	304	3	is	be	AUX
dad-13359	304	4	complete	complete	ADJ
dad-13359	304	5	,	,	PUNCT
dad-13359	304	6	the	the	DET
dad-13359	304	7	response	response	NOUN
dad-13359	304	8	is	be	AUX
dad-13359	304	9	itself	itself	PRON
dad-13359	304	10	added	add	VERB
dad-13359	304	11	to	to	ADP
dad-13359	304	12	the	the	DET
dad-13359	304	13	graph	graph	NOUN
dad-13359	304	14	as	as	ADP
dad-13359	304	15	a	a	DET
dad-13359	304	16	new	new	ADJ
dad-13359	304	17	node	node	NOUN
dad-13359	304	18	.	.	PUNCT
dad-13359	305	1	this	this	DET
dad-13359	305	2	node	node	NOUN
dad-13359	305	3	is	be	AUX
dad-13359	305	4	connected	connect	VERB
dad-13359	305	5	to	to	ADP
dad-13359	305	6	the	the	DET
dad-13359	305	7	user	user	NOUN
dad-13359	305	8	utterance	utterance	VERB
dad-13359	305	9	with	with	ADP
dad-13359	305	10	a	a	DET
dad-13359	305	11	responds	respond	NOUN
dad-13359	305	12	to	to	ADP
dad-13359	305	13	relation	relation	NOUN
dad-13359	305	14	,	,	PUNCT
dad-13359	305	15	thereby	thereby	ADV
dad-13359	305	16	capturing	capture	VERB
dad-13359	305	17	the	the	DET
dad-13359	305	18	temporal	temporal	ADJ
dad-13359	305	19	sequence	sequence	NOUN
dad-13359	305	20	of	of	ADP
dad-13359	305	21	dialogue	dialogue	NOUN
dad-13359	305	22	turns	turn	VERB
dad-13359	305	23	in	in	ADP
dad-13359	305	24	the	the	DET
dad-13359	305	25	graph	graph	NOUN
dad-13359	305	26	.	.	PUNCT
dad-13359	306	1	4	4	X
dad-13359	306	2	.	.	X
dad-13359	306	3	experiments	experiment	NOUN
dad-13359	306	4	in	in	ADP
dad-13359	306	5	this	this	DET
dad-13359	306	6	section	section	NOUN
dad-13359	306	7	,	,	PUNCT
dad-13359	306	8	we	we	PRON
dad-13359	306	9	describe	describe	VERB
dad-13359	306	10	the	the	DET
dad-13359	306	11	design	design	NOUN
dad-13359	306	12	of	of	ADP
dad-13359	306	13	our	our	PRON
dad-13359	306	14	experimental	experimental	ADJ
dad-13359	306	15	study	study	NOUN
dad-13359	306	16	and	and	CCONJ
dad-13359	306	17	the	the	DET
dad-13359	306	18	results	result	NOUN
dad-13359	306	19	of	of	ADP
dad-13359	306	20	the	the	DET
dad-13359	306	21	corresponding	corresponding	ADJ
dad-13359	306	22	user	user	NOUN
dad-13359	306	23	evaluation	evaluation	NOUN
dad-13359	306	24	.	.	PUNCT
dad-13359	307	1	the	the	DET
dad-13359	307	2	goal	goal	NOUN
dad-13359	307	3	of	of	ADP
dad-13359	307	4	our	our	PRON
dad-13359	307	5	study	study	NOUN
dad-13359	307	6	is	be	AUX
dad-13359	307	7	to	to	PART
dad-13359	307	8	explore	explore	VERB
dad-13359	307	9	the	the	DET
dad-13359	307	10	capabilities	capability	NOUN
dad-13359	307	11	of	of	ADP
dad-13359	307	12	a	a	DET
dad-13359	307	13	robot	robot	NOUN
dad-13359	307	14	that	that	PRON
dad-13359	307	15	relies	rely	VERB
dad-13359	307	16	on	on	ADP
dad-13359	307	17	a	a	DET
dad-13359	307	18	dynamic	dynamic	ADJ
dad-13359	307	19	knowledge	knowledge	NOUN
dad-13359	307	20	graph	graph	NOUN
dad-13359	307	21	as	as	ADP
dad-13359	307	22	the	the	DET
dad-13359	307	23	representation	representation	NOUN
dad-13359	307	24	of	of	ADP
dad-13359	307	25	its	its	PRON
dad-13359	307	26	environment	environment	NOUN
dad-13359	307	27	and	and	CCONJ
dad-13359	307	28	dialogue	dialogue	NOUN
dad-13359	307	29	state	state	NOUN
dad-13359	307	30	,	,	PUNCT
dad-13359	307	31	and	and	CCONJ
dad-13359	307	32	converts	convert	VERB
dad-13359	307	33	this	this	DET
dad-13359	307	34	graph	graph	NOUN
dad-13359	307	35	into	into	ADP
dad-13359	307	36	natural	natural	ADJ
dad-13359	307	37	language	language	NOUN
dad-13359	307	38	to	to	PART
dad-13359	307	39	enable	enable	VERB
dad-13359	307	40	the	the	DET
dad-13359	307	41	generation	generation	NOUN
dad-13359	307	42	of	of	ADP
dad-13359	307	43	system	system	NOUN
dad-13359	307	44	responses	response	NOUN
dad-13359	307	45	through	through	ADP
dad-13359	307	46	an	an	DET
dad-13359	307	47	llm	llm	NOUN
dad-13359	307	48	.	.	PUNCT
dad-13359	308	1	to	to	PART
dad-13359	308	2	do	do	VERB
dad-13359	308	3	so	so	ADV
dad-13359	308	4	,	,	PUNCT
dad-13359	308	5	we	we	PRON
dad-13359	308	6	designed	design	VERB
dad-13359	308	7	a	a	DET
dad-13359	308	8	study	study	NOUN
dad-13359	308	9	wherein	wherein	ADJ
dad-13359	308	10	users	user	NOUN
dad-13359	308	11	brought	bring	VERB
dad-13359	308	12	the	the	DET
dad-13359	308	13	robot	robot	NOUN
dad-13359	308	14	to	to	ADP
dad-13359	308	15	different	different	ADJ
dad-13359	308	16	locations	location	NOUN
dad-13359	308	17	in	in	ADP
dad-13359	308	18	an	an	DET
dad-13359	308	19	office	office	NOUN
dad-13359	308	20	environment	environment	NOUN
dad-13359	308	21	.	.	PUNCT
dad-13359	309	1	after	after	ADP
dad-13359	309	2	the	the	DET
dad-13359	309	3	completion	completion	NOUN
dad-13359	309	4	of	of	ADP
dad-13359	309	5	this	this	DET
dad-13359	309	6	office	office	NOUN
dad-13359	309	7	tour	tour	NOUN
dad-13359	309	8	,	,	PUNCT
dad-13359	309	9	the	the	DET
dad-13359	309	10	participants	participant	NOUN
dad-13359	309	11	were	be	AUX
dad-13359	309	12	then	then	ADV
dad-13359	309	13	instructed	instruct	VERB
dad-13359	309	14	to	to	PART
dad-13359	309	15	conduct	conduct	VERB
dad-13359	309	16	a	a	DET
dad-13359	309	17	short	short	ADJ
dad-13359	309	18	dialogue	dialogue	NOUN
dad-13359	309	19	with	with	ADP
dad-13359	309	20	the	the	DET
dad-13359	309	21	robot	robot	NOUN
dad-13359	309	22	to	to	PART
dad-13359	309	23	assess	assess	VERB
dad-13359	309	24	its	its	PRON
dad-13359	309	25	ability	ability	NOUN
dad-13359	309	26	to	to	PART
dad-13359	309	27	recollect	recollect	VERB
dad-13359	309	28	the	the	DET
dad-13359	309	29	observations	observation	NOUN
dad-13359	309	30	made	make	VERB
dad-13359	309	31	during	during	ADP
dad-13359	309	32	the	the	DET
dad-13359	309	33	tour	tour	NOUN
dad-13359	309	34	.	.	PUNCT
dad-13359	310	1	three	three	NUM
dad-13359	310	2	distinct	distinct	ADJ
dad-13359	310	3	model	model	NOUN
dad-13359	310	4	setups	setup	NOUN
dad-13359	310	5	were	be	AUX
dad-13359	310	6	investigated	investigate	VERB
dad-13359	310	7	,	,	PUNCT
dad-13359	310	8	and	and	CCONJ
dad-13359	310	9	users	user	NOUN
dad-13359	310	10	conversed	converse	VERB
dad-13359	310	11	with	with	ADP
dad-13359	310	12	all	all	DET
dad-13359	310	13	three	three	NUM
dad-13359	310	14	in	in	ADP
dad-13359	310	15	a	a	DET
dad-13359	310	16	randomized	randomized	ADJ
dad-13359	310	17	order	order	NOUN
dad-13359	310	18	immediately	immediately	ADV
dad-13359	310	19	after	after	ADP
dad-13359	310	20	their	their	PRON
dad-13359	310	21	tour	tour	NOUN
dad-13359	310	22	with	with	ADP
dad-13359	310	23	the	the	DET
dad-13359	310	24	robot	robot	NOUN
dad-13359	310	25	.	.	PUNCT
dad-13359	311	1	after	after	ADP
dad-13359	311	2	each	each	DET
dad-13359	311	3	conversation	conversation	NOUN
dad-13359	311	4	,	,	PUNCT
dad-13359	311	5	the	the	DET
dad-13359	311	6	participants	participant	NOUN
dad-13359	311	7	were	be	AUX
dad-13359	311	8	asked	ask	VERB
dad-13359	311	9	to	to	PART
dad-13359	311	10	rate	rate	VERB
dad-13359	311	11	the	the	DET
dad-13359	311	12	robot	robot	NOUN
dad-13359	311	13	responses	response	NOUN
dad-13359	311	14	with	with	ADP
dad-13359	311	15	respect	respect	NOUN
dad-13359	311	16	to	to	ADP
dad-13359	311	17	their	their	PRON
dad-13359	311	18	factuality	factuality	NOUN
dad-13359	311	19	and	and	CCONJ
dad-13359	311	20	their	their	PRON
dad-13359	311	21	adequacy	adequacy	NOUN
dad-13359	311	22	.	.	PUNCT
dad-13359	312	1	we	we	PRON
dad-13359	312	2	recruited	recruit	VERB
dad-13359	312	3	a	a	DET
dad-13359	312	4	total	total	NOUN
dad-13359	312	5	of	of	ADP
dad-13359	312	6	20	20	NUM
dad-13359	312	7	participants	participant	NOUN
dad-13359	312	8	(	(	PUNCT
dad-13359	312	9	for	for	ADP
dad-13359	312	10	the	the	DET
dad-13359	312	11	most	most	ADJ
dad-13359	312	12	part	part	NOUN
dad-13359	312	13	it	it	PRON
dad-13359	312	14	students	student	NOUN
dad-13359	312	15	and	and	CCONJ
dad-13359	312	16	researchers	researcher	NOUN
dad-13359	312	17	)	)	PUNCT
dad-13359	312	18	for	for	ADP
dad-13359	312	19	our	our	PRON
dad-13359	312	20	study	study	NOUN
dad-13359	312	21	,	,	PUNCT
dad-13359	312	22	the	the	DET
dad-13359	312	23	first	first	ADJ
dad-13359	312	24	two	two	NUM
dad-13359	312	25	participants	participant	NOUN
dad-13359	312	26	being	be	AUX
dad-13359	312	27	asked	ask	VERB
dad-13359	312	28	to	to	PART
dad-13359	312	29	test	test	VERB
dad-13359	312	30	a	a	DET
dad-13359	312	31	prototype	prototype	NOUN
dad-13359	312	32	version	version	NOUN
dad-13359	312	33	of	of	ADP
dad-13359	312	34	the	the	DET
dad-13359	312	35	final	final	ADJ
dad-13359	312	36	system	system	NOUN
dad-13359	312	37	.	.	PUNCT
dad-13359	313	1	each	each	DET
dad-13359	313	2	participant	participant	NOUN
dad-13359	313	3	was	be	AUX
dad-13359	313	4	given	give	VERB
dad-13359	313	5	a	a	DET
dad-13359	313	6	200	200	NUM
dad-13359	313	7	nok	nok	NOUN
dad-13359	313	8	gift	gift	NOUN
dad-13359	313	9	card	card	NOUN
dad-13359	313	10	for	for	ADP
dad-13359	313	11	their	their	PRON
dad-13359	313	12	participation	participation	NOUN
dad-13359	313	13	.	.	PUNCT
dad-13359	314	1	for	for	ADP
dad-13359	314	2	the	the	DET
dad-13359	314	3	robot	robot	NOUN
dad-13359	314	4	in	in	ADP
dad-13359	314	5	the	the	DET
dad-13359	314	6	experiment	experiment	NOUN
dad-13359	314	7	,	,	PUNCT
dad-13359	314	8	we	we	PRON
dad-13359	314	9	use	use	VERB
dad-13359	314	10	the	the	DET
dad-13359	314	11	pepper	pepper	NOUN
dad-13359	314	12	robot	robot	NOUN
dad-13359	314	13	of	of	ADP
dad-13359	314	14	aldebaran2	aldebaran2	PROPN
dad-13359	314	15	.	.	PUNCT
dad-13359	315	1	the	the	DET
dad-13359	315	2	dialogues	dialogue	NOUN
dad-13359	315	3	were	be	AUX
dad-13359	315	4	conducted	conduct	VERB
dad-13359	315	5	in	in	ADP
dad-13359	315	6	english	english	PROPN
dad-13359	315	7	.	.	PUNCT
dad-13359	316	1	4.1	4.1	NUM
dad-13359	316	2	experimental	experimental	ADJ
dad-13359	316	3	setup	setup	NOUN
dad-13359	316	4	the	the	DET
dad-13359	316	5	experiment	experiment	NOUN
dad-13359	316	6	was	be	AUX
dad-13359	316	7	structured	structure	VERB
dad-13359	316	8	in	in	ADP
dad-13359	316	9	two	two	NUM
dad-13359	316	10	parts	part	NOUN
dad-13359	316	11	that	that	PRON
dad-13359	316	12	respectively	respectively	ADV
dad-13359	316	13	correspond	correspond	VERB
dad-13359	316	14	to	to	ADP
dad-13359	316	15	the	the	DET
dad-13359	316	16	physical	physical	ADJ
dad-13359	316	17	tour	tour	NOUN
dad-13359	316	18	of	of	ADP
dad-13359	316	19	the	the	DET
dad-13359	316	20	office	office	NOUN
dad-13359	316	21	and	and	CCONJ
dad-13359	316	22	the	the	DET
dad-13359	316	23	dialogue	dialogue	NOUN
dad-13359	316	24	between	between	ADP
dad-13359	316	25	the	the	DET
dad-13359	316	26	user	user	NOUN
dad-13359	316	27	and	and	CCONJ
dad-13359	316	28	the	the	DET
dad-13359	316	29	robot	robot	NOUN
dad-13359	316	30	that	that	PRON
dad-13359	316	31	followed	follow	VERB
dad-13359	316	32	.	.	PUNCT
dad-13359	317	1	tour	tour	NOUN
dad-13359	317	2	phase	phase	NOUN
dad-13359	317	3	during	during	ADP
dad-13359	317	4	the	the	DET
dad-13359	317	5	tour	tour	NOUN
dad-13359	317	6	,	,	PUNCT
dad-13359	317	7	the	the	DET
dad-13359	317	8	robot	robot	NOUN
dad-13359	317	9	is	be	AUX
dad-13359	317	10	moved	move	VERB
dad-13359	317	11	around	around	ADP
dad-13359	317	12	an	an	DET
dad-13359	317	13	office	office	NOUN
dad-13359	317	14	environment	environment	NOUN
dad-13359	317	15	by	by	ADP
dad-13359	317	16	a	a	DET
dad-13359	317	17	participant	participant	NOUN
dad-13359	317	18	to	to	PART
dad-13359	317	19	record	record	VERB
dad-13359	317	20	details	detail	NOUN
dad-13359	317	21	of	of	ADP
dad-13359	317	22	its	its	PRON
dad-13359	317	23	path	path	NOUN
dad-13359	317	24	,	,	PUNCT
dad-13359	317	25	locations	location	NOUN
dad-13359	317	26	,	,	PUNCT
dad-13359	317	27	and	and	CCONJ
dad-13359	317	28	identifiable	identifiable	ADJ
dad-13359	317	29	objects	object	NOUN
dad-13359	317	30	.	.	PUNCT
dad-13359	318	1	for	for	ADP
dad-13359	318	2	the	the	DET
dad-13359	318	3	sake	sake	NOUN
dad-13359	318	4	of	of	ADP
dad-13359	318	5	simplicity	simplicity	NOUN
dad-13359	318	6	,	,	PUNCT
dad-13359	318	7	we	we	PRON
dad-13359	318	8	instruct	instruct	VERB
dad-13359	318	9	participants	participant	NOUN
dad-13359	318	10	to	to	PART
dad-13359	318	11	push	push	VERB
dad-13359	318	12	the	the	DET
dad-13359	318	13	robot	robot	NOUN
dad-13359	318	14	along	along	ADP
dad-13359	318	15	its	its	PRON
dad-13359	318	16	path	path	NOUN
dad-13359	318	17	in	in	ADP
dad-13359	318	18	the	the	DET
dad-13359	318	19	office	office	NOUN
dad-13359	318	20	.	.	PUNCT
dad-13359	319	1	before	before	ADP
dad-13359	319	2	entering	enter	VERB
dad-13359	319	3	a	a	DET
dad-13359	319	4	new	new	ADJ
dad-13359	319	5	room	room	NOUN
dad-13359	319	6	or	or	CCONJ
dad-13359	319	7	corridor	corridor	NOUN
dad-13359	319	8	,	,	PUNCT
dad-13359	319	9	the	the	DET
dad-13359	319	10	participant	participant	NOUN
dad-13359	319	11	was	be	AUX
dad-13359	319	12	instructed	instruct	VERB
dad-13359	319	13	to	to	PART
dad-13359	319	14	activate	activate	VERB
dad-13359	319	15	the	the	DET
dad-13359	319	16	robot	robot	NOUN
dad-13359	319	17	microphone	microphone	NOUN
dad-13359	319	18	by	by	ADP
dad-13359	319	19	tapping	tap	VERB
dad-13359	319	20	its	its	PRON
dad-13359	319	21	head	head	NOUN
dad-13359	319	22	and	and	CCONJ
dad-13359	319	23	stating	state	VERB
dad-13359	319	24	the	the	DET
dad-13359	319	25	name	name	NOUN
dad-13359	319	26	of	of	ADP
dad-13359	319	27	the	the	DET
dad-13359	319	28	area	area	NOUN
dad-13359	319	29	they	they	PRON
dad-13359	319	30	were	be	AUX
dad-13359	319	31	entering	enter	VERB
dad-13359	319	32	.	.	PUNCT
dad-13359	320	1	the	the	DET
dad-13359	320	2	time	time	NOUN
dad-13359	320	3	spent	spend	VERB
dad-13359	320	4	on	on	ADP
dad-13359	320	5	each	each	DET
dad-13359	320	6	tour	tour	NOUN
dad-13359	320	7	ranged	range	VERB
dad-13359	320	8	from	from	ADP
dad-13359	320	9	around	around	ADP
dad-13359	320	10	5	5	NUM
dad-13359	320	11	to	to	PART
dad-13359	320	12	20	20	NUM
dad-13359	320	13	minutes	minute	NOUN
dad-13359	320	14	.	.	PUNCT
dad-13359	321	1	2	2	X
dad-13359	321	2	.	.	NUM
dad-13359	321	3	https://www.aldebaran.com/en/pepper	https://www.aldebaran.com/en/pepper	NOUN
dad-13359	321	4	73	73	NUM
dad-13359	321	5	https://www.aldebaran.com/en/pepper	https://www.aldebaran.com/en/pepper	NOUN
dad-13359	321	6	walker	walker	PROPN
dad-13359	321	7	,	,	PUNCT
dad-13359	321	8	ultes	ulte	NOUN
dad-13359	321	9	and	and	CCONJ
dad-13359	321	10	lison	lison	NOUN
dad-13359	321	11	figure	figure	NOUN
dad-13359	321	12	5	5	NUM
dad-13359	321	13	:	:	PUNCT
dad-13359	321	14	the	the	DET
dad-13359	321	15	first	first	ADJ
dad-13359	321	16	author	author	NOUN
dad-13359	321	17	in	in	ADP
dad-13359	321	18	a	a	DET
dad-13359	321	19	dialogue	dialogue	NOUN
dad-13359	321	20	with	with	ADP
dad-13359	321	21	the	the	DET
dad-13359	321	22	robot	robot	NOUN
dad-13359	321	23	.	.	PUNCT
dad-13359	322	1	a	a	DET
dad-13359	322	2	video	video	NOUN
dad-13359	322	3	of	of	ADP
dad-13359	322	4	a	a	DET
dad-13359	322	5	short	short	ADJ
dad-13359	322	6	example	example	NOUN
dad-13359	322	7	tour	tour	NOUN
dad-13359	322	8	may	may	AUX
dad-13359	322	9	be	be	AUX
dad-13359	322	10	found	find	VERB
dad-13359	322	11	at	at	ADP
dad-13359	322	12	https://youtu.be/a52zbcfvgs8	https://youtu.be/a52zbcfvgs8	ADP
dad-13359	322	13	dialogue	dialogue	NOUN
dad-13359	322	14	phase	phase	NOUN
dad-13359	322	15	after	after	SCONJ
dad-13359	322	16	the	the	DET
dad-13359	322	17	tour	tour	NOUN
dad-13359	322	18	was	be	AUX
dad-13359	322	19	completed	complete	VERB
dad-13359	322	20	,	,	PUNCT
dad-13359	322	21	the	the	DET
dad-13359	322	22	user	user	NOUN
dad-13359	322	23	was	be	AUX
dad-13359	322	24	then	then	ADV
dad-13359	322	25	asked	ask	VERB
dad-13359	322	26	to	to	PART
dad-13359	322	27	converse	converse	VERB
dad-13359	322	28	with	with	ADP
dad-13359	322	29	the	the	DET
dad-13359	322	30	robot	robot	NOUN
dad-13359	322	31	and	and	CCONJ
dad-13359	322	32	have	have	VERB
dad-13359	322	33	it	it	PRON
dad-13359	322	34	summarize	summarize	VERB
dad-13359	322	35	the	the	DET
dad-13359	322	36	tour	tour	NOUN
dad-13359	322	37	,	,	PUNCT
dad-13359	322	38	as	as	SCONJ
dad-13359	322	39	illustrated	illustrate	VERB
dad-13359	322	40	in	in	ADP
dad-13359	322	41	figure	figure	NOUN
dad-13359	322	42	5	5	NUM
dad-13359	322	43	.	.	PUNCT
dad-13359	323	1	the	the	DET
dad-13359	323	2	participant	participant	NOUN
dad-13359	323	3	was	be	AUX
dad-13359	323	4	instructed	instruct	VERB
dad-13359	323	5	to	to	PART
dad-13359	323	6	ask	ask	VERB
dad-13359	323	7	the	the	DET
dad-13359	323	8	robot	robot	NOUN
dad-13359	323	9	at	at	ADV
dad-13359	323	10	least	least	ADV
dad-13359	323	11	5	5	NUM
dad-13359	323	12	questions	question	NOUN
dad-13359	323	13	relating	relate	VERB
dad-13359	323	14	to	to	ADP
dad-13359	323	15	the	the	DET
dad-13359	323	16	tour	tour	NOUN
dad-13359	323	17	,	,	PUNCT
dad-13359	323	18	asking	ask	VERB
dad-13359	323	19	it	it	PRON
dad-13359	323	20	to	to	PART
dad-13359	323	21	summarize	summarize	VERB
dad-13359	323	22	the	the	DET
dad-13359	323	23	tour	tour	NOUN
dad-13359	323	24	along	along	ADP
dad-13359	323	25	with	with	ADP
dad-13359	323	26	questions	question	NOUN
dad-13359	323	27	such	such	ADJ
dad-13359	323	28	as	as	ADP
dad-13359	323	29	to	to	PART
dad-13359	323	30	describe	describe	VERB
dad-13359	323	31	which	which	DET
dad-13359	323	32	locations	location	NOUN
dad-13359	323	33	it	it	PRON
dad-13359	323	34	visited	visit	VERB
dad-13359	323	35	,	,	PUNCT
dad-13359	323	36	what	what	PRON
dad-13359	323	37	was	be	AUX
dad-13359	323	38	seen	see	VERB
dad-13359	323	39	in	in	ADP
dad-13359	323	40	each	each	DET
dad-13359	323	41	location	location	NOUN
dad-13359	323	42	,	,	PUNCT
dad-13359	323	43	what	what	DET
dad-13359	323	44	distance	distance	NOUN
dad-13359	323	45	was	be	AUX
dad-13359	323	46	traveled	travel	VERB
dad-13359	323	47	,	,	PUNCT
dad-13359	323	48	or	or	CCONJ
dad-13359	323	49	how	how	SCONJ
dad-13359	323	50	much	much	ADJ
dad-13359	323	51	time	time	NOUN
dad-13359	323	52	was	be	AUX
dad-13359	323	53	spent	spend	VERB
dad-13359	323	54	in	in	ADP
dad-13359	323	55	an	an	DET
dad-13359	323	56	area	area	NOUN
dad-13359	323	57	.	.	PUNCT
dad-13359	324	1	participants	participant	NOUN
dad-13359	324	2	were	be	AUX
dad-13359	324	3	encouraged	encourage	VERB
dad-13359	324	4	to	to	PART
dad-13359	324	5	treat	treat	VERB
dad-13359	324	6	the	the	DET
dad-13359	324	7	conversation	conversation	NOUN
dad-13359	324	8	as	as	ADP
dad-13359	324	9	a	a	DET
dad-13359	324	10	natural	natural	ADJ
dad-13359	324	11	,	,	PUNCT
dad-13359	324	12	continuous	continuous	ADJ
dad-13359	324	13	dialogue	dialogue	NOUN
dad-13359	324	14	rather	rather	ADV
dad-13359	324	15	than	than	ADP
dad-13359	324	16	a	a	DET
dad-13359	324	17	set	set	NOUN
dad-13359	324	18	of	of	ADP
dad-13359	324	19	isolated	isolated	ADJ
dad-13359	324	20	questions	question	NOUN
dad-13359	324	21	,	,	PUNCT
dad-13359	324	22	allowing	allow	VERB
dad-13359	324	23	for	for	ADP
dad-13359	324	24	follow	follow	VERB
dad-13359	324	25	up	up	ADP
dad-13359	324	26	questions	question	NOUN
dad-13359	324	27	referencing	reference	VERB
dad-13359	324	28	the	the	DET
dad-13359	324	29	previous	previous	ADJ
dad-13359	324	30	question	question	NOUN
dad-13359	324	31	(	(	PUNCT
dad-13359	324	32	e.g.	e.g.	ADV
dad-13359	324	33	“	"	PUNCT
dad-13359	324	34	what	what	PRON
dad-13359	324	35	did	do	AUX
dad-13359	324	36	you	you	PRON
dad-13359	324	37	see	see	VERB
dad-13359	324	38	after	after	ADP
dad-13359	324	39	that	that	PRON
dad-13359	324	40	?	?	PUNCT
dad-13359	324	41	”	"	PUNCT
dad-13359	324	42	)	)	PUNCT
dad-13359	324	43	.	.	PUNCT
dad-13359	325	1	this	this	DET
dad-13359	325	2	dialogue	dialogue	NOUN
dad-13359	325	3	between	between	ADP
dad-13359	325	4	robot	robot	NOUN
dad-13359	325	5	and	and	CCONJ
dad-13359	325	6	user	user	NOUN
dad-13359	325	7	is	be	AUX
dad-13359	325	8	repeated	repeat	VERB
dad-13359	325	9	three	three	NUM
dad-13359	325	10	times	time	NOUN
dad-13359	325	11	,	,	PUNCT
dad-13359	325	12	each	each	DET
dad-13359	325	13	time	time	NOUN
dad-13359	325	14	with	with	ADP
dad-13359	325	15	a	a	DET
dad-13359	325	16	distinct	distinct	ADJ
dad-13359	325	17	configuration	configuration	NOUN
dad-13359	325	18	for	for	ADP
dad-13359	325	19	response	response	NOUN
dad-13359	325	20	generation	generation	NOUN
dad-13359	325	21	(	(	PUNCT
dad-13359	325	22	see	see	VERB
dad-13359	325	23	below	below	ADV
dad-13359	325	24	)	)	PUNCT
dad-13359	325	25	.	.	PUNCT
dad-13359	326	1	participants	participant	NOUN
dad-13359	326	2	were	be	AUX
dad-13359	326	3	instructed	instruct	VERB
dad-13359	326	4	to	to	PART
dad-13359	326	5	treat	treat	VERB
dad-13359	326	6	each	each	DET
dad-13359	326	7	dialogue	dialogue	NOUN
dad-13359	326	8	as	as	ADP
dad-13359	326	9	a	a	DET
dad-13359	326	10	completely	completely	ADV
dad-13359	326	11	independent	independent	ADJ
dad-13359	326	12	conversation	conversation	NOUN
dad-13359	326	13	.	.	PUNCT
dad-13359	327	1	the	the	DET
dad-13359	327	2	model	model	NOUN
dad-13359	327	3	order	order	NOUN
dad-13359	327	4	was	be	AUX
dad-13359	327	5	randomly	randomly	ADV
dad-13359	327	6	reshuffled	reshuffle	VERB
dad-13359	327	7	for	for	ADP
dad-13359	327	8	each	each	DET
dad-13359	327	9	experiment	experiment	NOUN
dad-13359	327	10	.	.	PUNCT
dad-13359	328	1	the	the	DET
dad-13359	328	2	participants	participant	NOUN
dad-13359	328	3	were	be	AUX
dad-13359	328	4	also	also	ADV
dad-13359	328	5	told	tell	VERB
dad-13359	328	6	they	they	PRON
dad-13359	328	7	did	do	AUX
dad-13359	328	8	not	not	PART
dad-13359	328	9	need	need	VERB
dad-13359	328	10	to	to	PART
dad-13359	328	11	ask	ask	VERB
dad-13359	328	12	the	the	DET
dad-13359	328	13	same	same	ADJ
dad-13359	328	14	questions	question	NOUN
dad-13359	328	15	in	in	ADP
dad-13359	328	16	each	each	DET
dad-13359	328	17	dialogue	dialogue	NOUN
dad-13359	328	18	.	.	PUNCT
dad-13359	329	1	4.2	4.2	NUM
dad-13359	329	2	system	system	NOUN
dad-13359	329	3	configuration	configuration	NOUN
dad-13359	329	4	the	the	DET
dad-13359	329	5	software	software	NOUN
dad-13359	329	6	architecture	architecture	NOUN
dad-13359	329	7	employed	employ	VERB
dad-13359	329	8	for	for	ADP
dad-13359	329	9	the	the	DET
dad-13359	329	10	experiments	experiment	NOUN
dad-13359	329	11	integrates	integrate	VERB
dad-13359	329	12	a	a	DET
dad-13359	329	13	number	number	NOUN
dad-13359	329	14	of	of	ADP
dad-13359	329	15	modules	module	NOUN
dad-13359	329	16	,	,	PUNCT
dad-13359	329	17	as	as	SCONJ
dad-13359	329	18	illustrated	illustrate	VERB
dad-13359	329	19	in	in	ADP
dad-13359	329	20	figure	figure	NOUN
dad-13359	329	21	6	6	NUM
dad-13359	329	22	.	.	PUNCT
dad-13359	330	1	the	the	DET
dad-13359	330	2	sensor	sensor	NOUN
dad-13359	330	3	-	-	PUNCT
dad-13359	330	4	related	relate	VERB
dad-13359	330	5	modules	module	NOUN
dad-13359	330	6	ran	run	VERB
dad-13359	330	7	on	on	ADP
dad-13359	330	8	the	the	DET
dad-13359	330	9	pepper	pepper	NOUN
dad-13359	330	10	robot	robot	NOUN
dad-13359	330	11	itself	itself	PRON
dad-13359	330	12	,	,	PUNCT
dad-13359	330	13	while	while	SCONJ
dad-13359	330	14	the	the	DET
dad-13359	330	15	other	other	ADJ
dad-13359	330	16	modules	module	NOUN
dad-13359	330	17	were	be	AUX
dad-13359	330	18	located	locate	VERB
dad-13359	330	19	on	on	ADP
dad-13359	330	20	a	a	DET
dad-13359	330	21	separate	separate	ADJ
dad-13359	330	22	machine	machine	NOUN
dad-13359	330	23	with	with	ADP
dad-13359	330	24	access	access	NOUN
dad-13359	330	25	to	to	ADP
dad-13359	330	26	a	a	DET
dad-13359	330	27	gpu	gpu	NOUN
dad-13359	330	28	.	.	PROPN
dad-13359	330	29	4.2.1	4.2.1	NUM
dad-13359	330	30	robot	robot	NOUN
dad-13359	330	31	perception	perception	NOUN
dad-13359	330	32	during	during	ADP
dad-13359	330	33	the	the	DET
dad-13359	330	34	tour	tour	NOUN
dad-13359	330	35	,	,	PUNCT
dad-13359	330	36	the	the	DET
dad-13359	330	37	dialogue	dialogue	NOUN
dad-13359	330	38	state	state	NOUN
dad-13359	330	39	graph	graph	NOUN
dad-13359	330	40	is	be	AUX
dad-13359	330	41	continuously	continuously	ADV
dad-13359	330	42	updated	update	VERB
dad-13359	330	43	with	with	ADP
dad-13359	330	44	new	new	ADJ
dad-13359	330	45	visual	visual	ADJ
dad-13359	330	46	and	and	CCONJ
dad-13359	330	47	positional	positional	ADJ
dad-13359	330	48	data	datum	NOUN
dad-13359	330	49	,	,	PUNCT
dad-13359	330	50	along	along	ADP
dad-13359	330	51	with	with	ADP
dad-13359	330	52	the	the	DET
dad-13359	330	53	timestamp	timestamp	NOUN
dad-13359	330	54	at	at	ADP
dad-13359	330	55	which	which	PRON
dad-13359	330	56	these	these	DET
dad-13359	330	57	elements	element	NOUN
dad-13359	330	58	are	be	AUX
dad-13359	330	59	observed	observe	VERB
dad-13359	330	60	by	by	ADP
dad-13359	330	61	the	the	DET
dad-13359	330	62	robot	robot	NOUN
dad-13359	330	63	.	.	PUNCT
dad-13359	331	1	the	the	DET
dad-13359	331	2	user	user	NOUN
dad-13359	331	3	-	-	PUNCT
dad-13359	331	4	provided	provide	VERB
dad-13359	331	5	location	location	NOUN
dad-13359	331	6	labels	label	NOUN
dad-13359	331	7	are	be	AUX
dad-13359	331	8	added	add	VERB
dad-13359	331	9	to	to	ADP
dad-13359	331	10	the	the	DET
dad-13359	331	11	graph	graph	NOUN
dad-13359	331	12	as	as	ADP
dad-13359	331	13	nodes	node	NOUN
dad-13359	331	14	with	with	ADP
dad-13359	331	15	the	the	DET
dad-13359	331	16	provided	provide	VERB
dad-13359	331	17	name	name	NOUN
dad-13359	331	18	as	as	ADP
dad-13359	331	19	the	the	DET
dad-13359	331	20	node	node	ADJ
dad-13359	331	21	description	description	NOUN
dad-13359	331	22	.	.	PUNCT
dad-13359	332	1	as	as	SCONJ
dad-13359	332	2	the	the	DET
dad-13359	332	3	robot	robot	NOUN
dad-13359	332	4	moves	move	VERB
dad-13359	332	5	along	along	ADP
dad-13359	332	6	its	its	PRON
dad-13359	332	7	path	path	NOUN
dad-13359	332	8	,	,	PUNCT
dad-13359	332	9	new	new	ADJ
dad-13359	332	10	nodes	node	NOUN
dad-13359	332	11	are	be	AUX
dad-13359	332	12	added	add	VERB
dad-13359	332	13	to	to	ADP
dad-13359	332	14	the	the	DET
dad-13359	332	15	state	state	NOUN
dad-13359	332	16	representing	represent	VERB
dad-13359	332	17	spatial	spatial	ADJ
dad-13359	332	18	positions	position	NOUN
dad-13359	332	19	,	,	PUNCT
dad-13359	332	20	images	image	NOUN
dad-13359	332	21	,	,	PUNCT
dad-13359	332	22	and	and	CCONJ
dad-13359	332	23	entities	entity	NOUN
dad-13359	332	24	seen	see	VERB
dad-13359	332	25	during	during	ADP
dad-13359	332	26	its	its	PRON
dad-13359	332	27	movement	movement	NOUN
dad-13359	332	28	.	.	PUNCT
dad-13359	333	1	the	the	DET
dad-13359	333	2	room	room	NOUN
dad-13359	333	3	labels	label	NOUN
dad-13359	333	4	provided	provide	VERB
dad-13359	333	5	by	by	ADP
dad-13359	333	6	the	the	DET
dad-13359	333	7	user	user	NOUN
dad-13359	333	8	are	be	AUX
dad-13359	333	9	assigned	assign	VERB
dad-13359	333	10	to	to	ADP
dad-13359	333	11	all	all	DET
dad-13359	333	12	subsequent	subsequent	ADJ
dad-13359	333	13	positions	position	NOUN
dad-13359	333	14	recorded	record	VERB
dad-13359	333	15	by	by	ADP
dad-13359	333	16	the	the	DET
dad-13359	333	17	robot	robot	NOUN
dad-13359	333	18	until	until	SCONJ
dad-13359	333	19	the	the	DET
dad-13359	333	20	next	next	ADJ
dad-13359	333	21	label	label	NOUN
dad-13359	333	22	was	be	AUX
dad-13359	333	23	provided	provide	VERB
dad-13359	333	24	.	.	PUNCT
dad-13359	334	1	the	the	DET
dad-13359	334	2	robot	robot	NOUN
dad-13359	334	3	takes	take	VERB
dad-13359	334	4	a	a	DET
dad-13359	334	5	picture	picture	NOUN
dad-13359	334	6	of	of	ADP
dad-13359	334	7	what	what	PRON
dad-13359	334	8	is	be	AUX
dad-13359	334	9	in	in	ADP
dad-13359	334	10	front	front	NOUN
dad-13359	334	11	of	of	ADP
dad-13359	334	12	it	it	PRON
dad-13359	334	13	approximately	approximately	ADV
dad-13359	334	14	every	every	DET
dad-13359	334	15	1.5	1.5	NUM
dad-13359	334	16	seconds	second	NOUN
dad-13359	334	17	,	,	PUNCT
dad-13359	334	18	along	along	ADP
dad-13359	334	19	with	with	ADP
dad-13359	334	20	its	its	PRON
dad-13359	334	21	current	current	ADJ
dad-13359	334	22	coordinates	coordinate	NOUN
dad-13359	334	23	relative	relative	ADJ
dad-13359	334	24	to	to	ADP
dad-13359	334	25	an	an	DET
dad-13359	334	26	initial	initial	ADJ
dad-13359	334	27	starting	starting	NOUN
dad-13359	334	28	location	location	NOUN
dad-13359	334	29	.	.	PUNCT
dad-13359	335	1	due	due	ADP
dad-13359	335	2	to	to	ADP
dad-13359	335	3	odometry	odometry	NOUN
dad-13359	335	4	drift	drift	NOUN
dad-13359	335	5	,	,	PUNCT
dad-13359	335	6	we	we	PRON
dad-13359	335	7	were	be	AUX
dad-13359	335	8	unable	unable	ADJ
dad-13359	335	9	to	to	PART
dad-13359	335	10	treat	treat	VERB
dad-13359	335	11	the	the	DET
dad-13359	335	12	spatial	spatial	ADJ
dad-13359	335	13	data	datum	NOUN
dad-13359	335	14	as	as	ADP
dad-13359	335	15	a	a	DET
dad-13359	335	16	precise	precise	ADJ
dad-13359	335	17	representation	representation	NOUN
dad-13359	335	18	of	of	ADP
dad-13359	335	19	the	the	DET
dad-13359	335	20	robot	robot	NOUN
dad-13359	335	21	’s	’s	PART
dad-13359	335	22	path	path	NOUN
dad-13359	335	23	at	at	ADP
dad-13359	335	24	large	large	ADJ
dad-13359	335	25	distances	distance	NOUN
dad-13359	335	26	.	.	PUNCT
dad-13359	336	1	nevertheless	nevertheless	ADV
dad-13359	336	2	,	,	PUNCT
dad-13359	336	3	these	these	DET
dad-13359	336	4	location	location	NOUN
dad-13359	336	5	measurements	measurement	NOUN
dad-13359	336	6	provided	provide	VERB
dad-13359	336	7	an	an	DET
dad-13359	336	8	approximate	approximate	ADJ
dad-13359	336	9	measure	measure	NOUN
dad-13359	336	10	of	of	ADP
dad-13359	336	11	distance	distance	NOUN
dad-13359	336	12	traveled	travel	VERB
dad-13359	336	13	within	within	ADP
dad-13359	336	14	areas	area	NOUN
dad-13359	336	15	as	as	ADP
dad-13359	336	16	74	74	NUM
dad-13359	336	17	https://youtu.be/a52zbcfvgs8	https://youtu.be/a52zbcfvgs8	ADP
dad-13359	336	18	a	a	DET
dad-13359	336	19	graph	graph	NOUN
dad-13359	336	20	-	-	PUNCT
dad-13359	336	21	to	to	ADP
dad-13359	336	22	-	-	PUNCT
dad-13359	336	23	text	text	NOUN
dad-13359	336	24	approach	approach	NOUN
dad-13359	336	25	to	to	ADP
dad-13359	336	26	knowledge	knowledge	NOUN
dad-13359	336	27	-	-	PUNCT
dad-13359	336	28	grounded	ground	VERB
dad-13359	336	29	response	response	NOUN
dad-13359	336	30	generation	generation	NOUN
dad-13359	336	31	in	in	ADP
dad-13359	336	32	hri	hri	PROPN
dad-13359	336	33	sensors	sensors	PROPN
dad-13359	336	34	camera	camera	NOUN
dad-13359	336	35	asr	asr	PROPN
dad-13359	336	36	other	other	ADJ
dad-13359	336	37	input	input	NOUN
dad-13359	336	38	object	object	NOUN
dad-13359	336	39	and	and	CCONJ
dad-13359	336	40	person	person	NOUN
dad-13359	336	41	detection	detection	NOUN
dad-13359	336	42	verbalization	verbalization	NOUN
dad-13359	336	43	response	response	NOUN
dad-13359	336	44	generation	generation	NOUN
dad-13359	336	45	(	(	PUNCT
dad-13359	336	46	llm	llm	NOUN
dad-13359	336	47	)	)	PUNCT
dad-13359	336	48	path	path	NOUN
dad-13359	336	49	detection	detection	NOUN
dad-13359	336	50	robot	robot	NOUN
dad-13359	336	51	figure	figure	NOUN
dad-13359	336	52	6	6	NUM
dad-13359	336	53	:	:	PUNCT
dad-13359	336	54	diagram	diagram	NOUN
dad-13359	336	55	of	of	ADP
dad-13359	336	56	the	the	DET
dad-13359	336	57	implemented	implement	VERB
dad-13359	336	58	architecture	architecture	NOUN
dad-13359	336	59	for	for	ADP
dad-13359	336	60	the	the	DET
dad-13359	336	61	experiment	experiment	NOUN
dad-13359	336	62	.	.	PUNCT
dad-13359	337	1	robot	robot	NOUN
dad-13359	337	2	sensor	sensor	NOUN
dad-13359	337	3	modules	module	NOUN
dad-13359	337	4	are	be	AUX
dad-13359	337	5	colored	color	VERB
dad-13359	337	6	blue	blue	ADJ
dad-13359	337	7	,	,	PUNCT
dad-13359	337	8	while	while	SCONJ
dad-13359	337	9	post	post	ADJ
dad-13359	337	10	-	-	ADJ
dad-13359	337	11	processing	processing	ADJ
dad-13359	337	12	models	model	NOUN
dad-13359	337	13	operating	operate	VERB
dad-13359	337	14	on	on	ADP
dad-13359	337	15	the	the	DET
dad-13359	337	16	graph	graph	NOUN
dad-13359	337	17	are	be	AUX
dad-13359	337	18	colored	color	VERB
dad-13359	337	19	yellow	yellow	ADJ
dad-13359	337	20	.	.	PUNCT
dad-13359	338	1	well	well	INTJ
dad-13359	338	2	as	as	ADP
dad-13359	338	3	a	a	DET
dad-13359	338	4	means	means	NOUN
dad-13359	338	5	of	of	ADP
dad-13359	338	6	estimating	estimate	VERB
dad-13359	338	7	directional	directional	ADJ
dad-13359	338	8	changes	change	NOUN
dad-13359	338	9	by	by	ADP
dad-13359	338	10	the	the	DET
dad-13359	338	11	robot	robot	NOUN
dad-13359	338	12	.	.	PUNCT
dad-13359	339	1	the	the	DET
dad-13359	339	2	image	image	NOUN
dad-13359	339	3	data	datum	NOUN
dad-13359	339	4	and	and	CCONJ
dad-13359	339	5	x	x	NOUN
dad-13359	339	6	,	,	PUNCT
dad-13359	339	7	y	y	PROPN
dad-13359	339	8	coordinates	coordinate	NOUN
dad-13359	339	9	are	be	AUX
dad-13359	339	10	added	add	VERB
dad-13359	339	11	to	to	ADP
dad-13359	339	12	the	the	DET
dad-13359	339	13	graph	graph	NOUN
dad-13359	339	14	as	as	SCONJ
dad-13359	339	15	nodes	node	NOUN
dad-13359	339	16	labeled	label	VERB
dad-13359	339	17	image	image	NOUN
dad-13359	339	18	and	and	CCONJ
dad-13359	339	19	position	position	NOUN
dad-13359	339	20	,	,	PUNCT
dad-13359	339	21	respectively	respectively	ADV
dad-13359	339	22	,	,	PUNCT
dad-13359	339	23	and	and	CCONJ
dad-13359	339	24	are	be	AUX
dad-13359	339	25	each	each	PRON
dad-13359	339	26	created	create	VERB
dad-13359	339	27	with	with	ADP
dad-13359	339	28	an	an	DET
dad-13359	339	29	edge	edge	NOUN
dad-13359	339	30	to	to	ADP
dad-13359	339	31	the	the	DET
dad-13359	339	32	current	current	ADJ
dad-13359	339	33	location	location	NOUN
dad-13359	339	34	node	node	NOUN
dad-13359	339	35	.	.	PUNCT
dad-13359	340	1	as	as	SCONJ
dad-13359	340	2	mentioned	mention	VERB
dad-13359	340	3	in	in	ADP
dad-13359	340	4	section	section	NOUN
dad-13359	340	5	3.2	3.2	NUM
dad-13359	340	6	,	,	PUNCT
dad-13359	340	7	a	a	DET
dad-13359	340	8	dedicated	dedicated	ADJ
dad-13359	340	9	mechanism	mechanism	NOUN
dad-13359	340	10	is	be	AUX
dad-13359	340	11	implemented	implement	VERB
dad-13359	340	12	to	to	PART
dad-13359	340	13	convert	convert	VERB
dad-13359	340	14	the	the	DET
dad-13359	340	15	raw	raw	ADJ
dad-13359	340	16	spatial	spatial	ADJ
dad-13359	340	17	coordinates	coordinate	NOUN
dad-13359	340	18	to	to	ADP
dad-13359	340	19	a	a	DET
dad-13359	340	20	high	high	ADJ
dad-13359	340	21	-	-	PUNCT
dad-13359	340	22	level	level	NOUN
dad-13359	340	23	sequence	sequence	NOUN
dad-13359	340	24	of	of	ADP
dad-13359	340	25	movements	movement	NOUN
dad-13359	340	26	based	base	VERB
dad-13359	340	27	on	on	ADP
dad-13359	340	28	the	the	DET
dad-13359	340	29	ramer	ramer	PROPN
dad-13359	340	30	-	-	PUNCT
dad-13359	340	31	douglas	douglas	PROPN
dad-13359	340	32	-	-	PUNCT
dad-13359	340	33	peucker	peucker	NOUN
dad-13359	340	34	algorithm	algorithm	NOUN
dad-13359	340	35	(	(	PUNCT
dad-13359	340	36	douglas	douglas	PROPN
dad-13359	340	37	and	and	CCONJ
dad-13359	340	38	peucker	peucker	PROPN
dad-13359	340	39	,	,	PUNCT
dad-13359	340	40	1973	1973	NUM
dad-13359	340	41	)	)	PUNCT
dad-13359	340	42	.	.	PUNCT
dad-13359	341	1	when	when	SCONJ
dad-13359	341	2	an	an	DET
dad-13359	341	3	image	image	NOUN
dad-13359	341	4	is	be	AUX
dad-13359	341	5	added	add	VERB
dad-13359	341	6	to	to	ADP
dad-13359	341	7	the	the	DET
dad-13359	341	8	graph	graph	NOUN
dad-13359	341	9	,	,	PUNCT
dad-13359	341	10	a	a	DET
dad-13359	341	11	visual	visual	ADJ
dad-13359	341	12	question	question	NOUN
dad-13359	341	13	answering	answer	VERB
dad-13359	341	14	(	(	PUNCT
dad-13359	341	15	vqa	vqa	ADJ
dad-13359	341	16	)	)	PUNCT
dad-13359	341	17	model	model	NOUN
dad-13359	341	18	processes	process	VERB
dad-13359	341	19	the	the	DET
dad-13359	341	20	image	image	NOUN
dad-13359	341	21	information	information	NOUN
dad-13359	341	22	and	and	CCONJ
dad-13359	341	23	returns	return	VERB
dad-13359	341	24	a	a	DET
dad-13359	341	25	score	score	NOUN
dad-13359	341	26	of	of	ADP
dad-13359	341	27	whether	whether	SCONJ
dad-13359	341	28	objects	object	NOUN
dad-13359	341	29	were	be	AUX
dad-13359	341	30	detected	detect	VERB
dad-13359	341	31	in	in	ADP
dad-13359	341	32	the	the	DET
dad-13359	341	33	image	image	NOUN
dad-13359	341	34	.	.	PUNCT
dad-13359	342	1	the	the	DET
dad-13359	342	2	model	model	NOUN
dad-13359	342	3	we	we	PRON
dad-13359	342	4	chose	choose	VERB
dad-13359	342	5	for	for	ADP
dad-13359	342	6	this	this	DET
dad-13359	342	7	purpose	purpose	NOUN
dad-13359	342	8	is	be	AUX
dad-13359	342	9	the	the	DET
dad-13359	342	10	vision	vision	NOUN
dad-13359	342	11	transformer	transformer	NOUN
dad-13359	342	12	model	model	NOUN
dad-13359	342	13	of	of	ADP
dad-13359	342	14	minderer	minderer	PROPN
dad-13359	342	15	et	et	PROPN
dad-13359	342	16	al	al	PROPN
dad-13359	342	17	.	.	PROPN
dad-13359	343	1	(	(	PUNCT
dad-13359	343	2	2022	2022	NUM
dad-13359	343	3	)	)	PUNCT
dad-13359	343	4	.	.	PUNCT
dad-13359	344	1	we	we	PRON
dad-13359	344	2	enumerate	enumerate	VERB
dad-13359	344	3	the	the	DET
dad-13359	344	4	possible	possible	ADJ
dad-13359	344	5	objects	object	NOUN
dad-13359	344	6	the	the	DET
dad-13359	344	7	robot	robot	NOUN
dad-13359	344	8	should	should	AUX
dad-13359	344	9	see	see	VERB
dad-13359	344	10	including	include	VERB
dad-13359	344	11	people	people	NOUN
dad-13359	344	12	as	as	ADV
dad-13359	344	13	well	well	ADV
dad-13359	344	14	as	as	ADP
dad-13359	344	15	office	office	NOUN
dad-13359	344	16	objects	object	NOUN
dad-13359	344	17	(	(	PUNCT
dad-13359	344	18	see	see	VERB
dad-13359	344	19	appendix	appendix	NOUN
dad-13359	344	20	a	a	PRON
dad-13359	344	21	)	)	PUNCT
dad-13359	344	22	.	.	PUNCT
dad-13359	345	1	when	when	SCONJ
dad-13359	345	2	objects	object	NOUN
dad-13359	345	3	are	be	AUX
dad-13359	345	4	added	add	VERB
dad-13359	345	5	to	to	ADP
dad-13359	345	6	the	the	DET
dad-13359	345	7	graph	graph	NOUN
dad-13359	345	8	with	with	ADP
dad-13359	345	9	this	this	DET
dad-13359	345	10	model	model	NOUN
dad-13359	345	11	,	,	PUNCT
dad-13359	345	12	the	the	DET
dad-13359	345	13	estimated	estimate	VERB
dad-13359	345	14	probability	probability	NOUN
dad-13359	345	15	of	of	ADP
dad-13359	345	16	the	the	DET
dad-13359	345	17	object	object	NOUN
dad-13359	345	18	in	in	ADP
dad-13359	345	19	the	the	DET
dad-13359	345	20	image	image	NOUN
dad-13359	345	21	from	from	ADP
dad-13359	345	22	the	the	DET
dad-13359	345	23	vqa	vqa	NOUN
dad-13359	345	24	model	model	NOUN
dad-13359	345	25	is	be	AUX
dad-13359	345	26	assigned	assign	VERB
dad-13359	345	27	as	as	ADP
dad-13359	345	28	the	the	DET
dad-13359	345	29	probability	probability	NOUN
dad-13359	345	30	of	of	ADP
dad-13359	345	31	the	the	DET
dad-13359	345	32	node	node	NOUN
dad-13359	345	33	.	.	PUNCT
dad-13359	346	1	as	as	SCONJ
dad-13359	346	2	this	this	PRON
dad-13359	346	3	is	be	AUX
dad-13359	346	4	based	base	VERB
dad-13359	346	5	upon	upon	SCONJ
dad-13359	346	6	a	a	DET
dad-13359	346	7	non	non	ADJ
dad-13359	346	8	-	-	ADJ
dad-13359	346	9	fine	fine	ADJ
dad-13359	346	10	-	-	PUNCT
dad-13359	346	11	tuned	tune	VERB
dad-13359	346	12	model	model	NOUN
dad-13359	346	13	,	,	PUNCT
dad-13359	346	14	there	there	PRON
dad-13359	346	15	is	be	VERB
dad-13359	346	16	substantial	substantial	ADJ
dad-13359	346	17	noise	noise	NOUN
dad-13359	346	18	in	in	ADP
dad-13359	346	19	the	the	DET
dad-13359	346	20	observations	observation	NOUN
dad-13359	346	21	of	of	ADP
dad-13359	346	22	the	the	DET
dad-13359	346	23	objects	object	NOUN
dad-13359	346	24	.	.	PUNCT
dad-13359	347	1	4.2.2	4.2.2	NUM
dad-13359	347	2	dialogue	dialogue	NOUN
dad-13359	347	3	system	system	NOUN
dad-13359	347	4	during	during	ADP
dad-13359	347	5	the	the	DET
dad-13359	347	6	dialogue	dialogue	NOUN
dad-13359	347	7	phase	phase	NOUN
dad-13359	347	8	,	,	PUNCT
dad-13359	347	9	the	the	DET
dad-13359	347	10	user	user	NOUN
dad-13359	347	11	activates	activate	VERB
dad-13359	347	12	the	the	DET
dad-13359	347	13	microphone	microphone	NOUN
dad-13359	347	14	by	by	ADP
dad-13359	347	15	tapping	tap	VERB
dad-13359	347	16	the	the	DET
dad-13359	347	17	robot	robot	NOUN
dad-13359	347	18	’s	’s	PART
dad-13359	347	19	head	head	NOUN
dad-13359	347	20	.	.	PUNCT
dad-13359	348	1	utterances	utterance	NOUN
dad-13359	348	2	are	be	AUX
dad-13359	348	3	transcribed	transcribe	VERB
dad-13359	348	4	using	use	VERB
dad-13359	348	5	the	the	DET
dad-13359	348	6	google	google	PROPN
dad-13359	348	7	speech	speech	NOUN
dad-13359	348	8	api3	api3	PROPN
dad-13359	348	9	and	and	CCONJ
dad-13359	348	10	insert	insert	VERB
dad-13359	348	11	to	to	ADP
dad-13359	348	12	the	the	DET
dad-13359	348	13	knowledge	knowledge	NOUN
dad-13359	348	14	graph	graph	NOUN
dad-13359	348	15	as	as	ADP
dad-13359	348	16	nodes	node	NOUN
dad-13359	348	17	.	.	PUNCT
dad-13359	349	1	the	the	DET
dad-13359	349	2	process	process	NOUN
dad-13359	349	3	of	of	ADP
dad-13359	349	4	response	response	NOUN
dad-13359	349	5	generation	generation	NOUN
dad-13359	349	6	is	be	AUX
dad-13359	349	7	triggered	trigger	VERB
dad-13359	349	8	upon	upon	SCONJ
dad-13359	349	9	the	the	DET
dad-13359	349	10	addition	addition	NOUN
dad-13359	349	11	of	of	ADP
dad-13359	349	12	new	new	ADJ
dad-13359	349	13	utterance	utterance	NOUN
dad-13359	349	14	nodes	node	NOUN
dad-13359	349	15	in	in	ADP
dad-13359	349	16	the	the	DET
dad-13359	349	17	graph	graph	NOUN
dad-13359	349	18	.	.	PUNCT
dad-13359	350	1	this	this	DET
dad-13359	350	2	process	process	NOUN
dad-13359	350	3	begins	begin	VERB
dad-13359	350	4	with	with	ADP
dad-13359	350	5	the	the	DET
dad-13359	350	6	verbalization	verbalization	NOUN
dad-13359	350	7	of	of	ADP
dad-13359	350	8	the	the	DET
dad-13359	350	9	graph	graph	NOUN
dad-13359	350	10	(	(	PUNCT
dad-13359	350	11	see	see	VERB
dad-13359	350	12	section	section	NOUN
dad-13359	350	13	3.3	3.3	NUM
dad-13359	350	14	)	)	PUNCT
dad-13359	350	15	.	.	PUNCT
dad-13359	351	1	the	the	DET
dad-13359	351	2	resulting	result	VERB
dad-13359	351	3	description	description	NOUN
dad-13359	351	4	of	of	ADP
dad-13359	351	5	the	the	DET
dad-13359	351	6	graph	graph	NOUN
dad-13359	351	7	is	be	AUX
dad-13359	351	8	then	then	ADV
dad-13359	351	9	inserted	insert	VERB
dad-13359	351	10	into	into	ADP
dad-13359	351	11	a	a	DET
dad-13359	351	12	prompt	prompt	ADJ
dad-13359	351	13	format	format	NOUN
dad-13359	351	14	for	for	ADP
dad-13359	351	15	the	the	DET
dad-13359	351	16	language	language	NOUN
dad-13359	351	17	model	model	NOUN
dad-13359	351	18	.	.	PUNCT
dad-13359	352	1	we	we	PRON
dad-13359	352	2	use	use	VERB
dad-13359	352	3	gpt-4	gpt-4	PRON
dad-13359	352	4	(	(	PUNCT
dad-13359	352	5	openai	openai	PROPN
dad-13359	352	6	,	,	PUNCT
dad-13359	352	7	2023	2023	NUM
dad-13359	352	8	)	)	PUNCT
dad-13359	352	9	and	and	CCONJ
dad-13359	352	10	llama	llama	NOUN
dad-13359	352	11	2	2	NUM
dad-13359	352	12	(	(	PUNCT
dad-13359	352	13	touvron	touvron	NOUN
dad-13359	352	14	et	et	PROPN
dad-13359	352	15	al	al	PROPN
dad-13359	352	16	.	.	PROPN
dad-13359	352	17	,	,	PUNCT
dad-13359	352	18	2023	2023	NUM
dad-13359	352	19	)	)	PUNCT
dad-13359	352	20	as	as	ADP
dad-13359	352	21	the	the	DET
dad-13359	352	22	llms	llm	NOUN
dad-13359	352	23	for	for	ADP
dad-13359	352	24	our	our	PRON
dad-13359	352	25	experiment	experiment	NOUN
dad-13359	352	26	.	.	PUNCT
dad-13359	353	1	the	the	DET
dad-13359	353	2	gpt-4	gpt-4	NUM
dad-13359	353	3	model	model	NOUN
dad-13359	353	4	was	be	AUX
dad-13359	353	5	accessed	access	VERB
dad-13359	353	6	through	through	ADP
dad-13359	353	7	the	the	DET
dad-13359	353	8	openai	openai	ADJ
dad-13359	353	9	api	api	NOUN
dad-13359	353	10	while	while	SCONJ
dad-13359	353	11	the	the	DET
dad-13359	353	12	llama-2	llama-2	NUM
dad-13359	353	13	model	model	NOUN
dad-13359	353	14	,	,	PUNCT
dad-13359	353	15	which	which	PRON
dad-13359	353	16	is	be	AUX
dad-13359	353	17	specifically	specifically	ADV
dad-13359	353	18	optimized	optimize	VERB
dad-13359	353	19	for	for	ADP
dad-13359	353	20	dialogue	dialogue	NOUN
dad-13359	353	21	use	use	NOUN
dad-13359	353	22	cases4	cases4	NOUN
dad-13359	353	23	,	,	PUNCT
dad-13359	353	24	was	be	AUX
dad-13359	353	25	run	run	VERB
dad-13359	353	26	on	on	ADP
dad-13359	353	27	a	a	DET
dad-13359	353	28	local	local	ADJ
dad-13359	353	29	gpu	gpu	NOUN
dad-13359	353	30	,	,	PUNCT
dad-13359	353	31	using	use	VERB
dad-13359	353	32	quantization	quantization	NOUN
dad-13359	353	33	methods	method	NOUN
dad-13359	353	34	(	(	PUNCT
dad-13359	353	35	dettmers	dettmer	NOUN
dad-13359	353	36	et	et	PROPN
dad-13359	353	37	al	al	PROPN
dad-13359	353	38	.	.	PROPN
dad-13359	353	39	,	,	PUNCT
dad-13359	353	40	2022b	2022b	NUM
dad-13359	353	41	,	,	PUNCT
dad-13359	353	42	a	a	PRON
dad-13359	353	43	)	)	PUNCT
dad-13359	353	44	to	to	PART
dad-13359	353	45	satisfy	satisfy	VERB
dad-13359	353	46	memory	memory	NOUN
dad-13359	353	47	limitations	limitation	NOUN
dad-13359	353	48	.	.	PUNCT
dad-13359	354	1	to	to	PART
dad-13359	354	2	evaluate	evaluate	VERB
dad-13359	354	3	the	the	DET
dad-13359	354	4	impact	impact	NOUN
dad-13359	354	5	of	of	ADP
dad-13359	354	6	the	the	DET
dad-13359	354	7	graph	graph	NOUN
dad-13359	354	8	verbalization	verbalization	NOUN
dad-13359	354	9	on	on	ADP
dad-13359	354	10	the	the	DET
dad-13359	354	11	dialogues	dialogue	NOUN
dad-13359	354	12	,	,	PUNCT
dad-13359	354	13	we	we	PRON
dad-13359	354	14	test	test	VERB
dad-13359	354	15	the	the	DET
dad-13359	354	16	following	follow	VERB
dad-13359	354	17	setups	setup	NOUN
dad-13359	354	18	with	with	ADP
dad-13359	354	19	these	these	DET
dad-13359	354	20	models	model	NOUN
dad-13359	354	21	:	:	PUNCT
dad-13359	355	1	3	3	X
dad-13359	355	2	.	.	X
dad-13359	355	3	https://cloud.google.com/speech-to-text	https://cloud.google.com/speech-to-text	PROPN
dad-13359	355	4	4	4	NUM
dad-13359	355	5	.	.	PUNCT
dad-13359	356	1	https://huggingface.co/meta-llama/llama-2-13b-chat-hf	https://huggingface.co/meta-llama/llama-2-13b-chat-hf	NUM
dad-13359	357	1	75	75	NUM
dad-13359	357	2	https://cloud.google.com/speech-to-text	https://cloud.google.com/speech-to-text	PROPN
dad-13359	357	3	https://huggingface.co/meta-llama/llama-2-13b-chat-hf	https://huggingface.co/meta-llama/llama-2-13b-chat-hf	PROPN
dad-13359	357	4	walker	walker	PROPN
dad-13359	357	5	,	,	PUNCT
dad-13359	357	6	ultes	ulte	NOUN
dad-13359	357	7	and	and	CCONJ
dad-13359	357	8	lison	lison	NOUN
dad-13359	357	9	model	model	NOUN
dad-13359	357	10	factuality	factuality	NOUN
dad-13359	357	11	adequacy	adequacy	NOUN
dad-13359	357	12	gpttriples	gpttriple	VERB
dad-13359	357	13	3.44	3.44	NUM
dad-13359	357	14	3.69	3.69	NUM
dad-13359	357	15	gptverbal	gptverbal	ADJ
dad-13359	357	16	4.06	4.06	NUM
dad-13359	357	17	3.88	3.88	NUM
dad-13359	357	18	llamaverbal	llamaverbal	NUM
dad-13359	357	19	3.68	3.68	NUM
dad-13359	357	20	3.79	3.79	NUM
dad-13359	357	21	table	table	NOUN
dad-13359	357	22	2	2	NUM
dad-13359	357	23	:	:	PUNCT
dad-13359	357	24	average	average	ADJ
dad-13359	357	25	participant	participant	NOUN
dad-13359	357	26	scores	score	NOUN
dad-13359	357	27	for	for	ADP
dad-13359	357	28	the	the	DET
dad-13359	357	29	model	model	NOUN
dad-13359	357	30	factuality	factuality	NOUN
dad-13359	357	31	and	and	CCONJ
dad-13359	357	32	conversational	conversational	ADJ
dad-13359	357	33	adequacy	adequacy	NOUN
dad-13359	357	34	.	.	PUNCT
dad-13359	358	1	1	1	X
dad-13359	358	2	.	.	X
dad-13359	358	3	the	the	DET
dad-13359	358	4	gpt-4	gpt-4	ADJ
dad-13359	358	5	model	model	NOUN
dad-13359	358	6	provided	provide	VERB
dad-13359	358	7	with	with	ADP
dad-13359	358	8	a	a	DET
dad-13359	358	9	prompt	prompt	NOUN
dad-13359	358	10	containing	contain	VERB
dad-13359	358	11	the	the	DET
dad-13359	358	12	verbalized	verbalize	VERB
dad-13359	358	13	dialogue	dialogue	NOUN
dad-13359	358	14	state	state	NOUN
dad-13359	358	15	graph	graph	NOUN
dad-13359	358	16	.	.	PUNCT
dad-13359	359	1	2	2	X
dad-13359	359	2	.	.	X
dad-13359	359	3	the	the	DET
dad-13359	359	4	llama	llama	ADJ
dad-13359	359	5	2	2	NUM
dad-13359	359	6	model	model	NOUN
dad-13359	359	7	provided	provide	VERB
dad-13359	359	8	with	with	ADP
dad-13359	359	9	a	a	DET
dad-13359	359	10	prompt	prompt	NOUN
dad-13359	359	11	containing	contain	VERB
dad-13359	359	12	the	the	DET
dad-13359	359	13	verbalized	verbalize	VERB
dad-13359	359	14	dialogue	dialogue	NOUN
dad-13359	359	15	state	state	NOUN
dad-13359	359	16	graph	graph	NOUN
dad-13359	359	17	.	.	PUNCT
dad-13359	360	1	3	3	X
dad-13359	360	2	.	.	X
dad-13359	360	3	the	the	DET
dad-13359	360	4	gpt-4	gpt-4	ADJ
dad-13359	360	5	model	model	NOUN
dad-13359	360	6	provided	provide	VERB
dad-13359	360	7	with	with	ADP
dad-13359	360	8	a	a	DET
dad-13359	360	9	prompt	prompt	NOUN
dad-13359	360	10	containing	contain	VERB
dad-13359	360	11	the	the	DET
dad-13359	360	12	dialogue	dialogue	NOUN
dad-13359	360	13	state	state	NOUN
dad-13359	360	14	graph	graph	NOUN
dad-13359	360	15	expressed	express	VERB
dad-13359	360	16	as	as	ADP
dad-13359	360	17	semantic	semantic	ADJ
dad-13359	360	18	triples	triple	NOUN
dad-13359	360	19	of	of	ADP
dad-13359	360	20	the	the	DET
dad-13359	360	21	state	state	NOUN
dad-13359	360	22	graph	graph	NOUN
dad-13359	360	23	facts	fact	NOUN
dad-13359	360	24	.	.	PUNCT
dad-13359	361	1	the	the	DET
dad-13359	361	2	first	first	ADJ
dad-13359	361	3	two	two	NUM
dad-13359	361	4	models	model	NOUN
dad-13359	361	5	make	make	VERB
dad-13359	361	6	use	use	NOUN
dad-13359	361	7	of	of	ADP
dad-13359	361	8	the	the	DET
dad-13359	361	9	verbalized	verbalize	VERB
dad-13359	361	10	graph	graph	NOUN
dad-13359	361	11	as	as	SCONJ
dad-13359	361	12	produced	produce	VERB
dad-13359	361	13	by	by	ADP
dad-13359	361	14	the	the	DET
dad-13359	361	15	transformation	transformation	NOUN
dad-13359	361	16	function	function	NOUN
dad-13359	361	17	and	and	CCONJ
dad-13359	361	18	selected	select	VERB
dad-13359	361	19	parameters	parameter	NOUN
dad-13359	361	20	from	from	ADP
dad-13359	361	21	section	section	NOUN
dad-13359	361	22	3.3	3.3	NUM
dad-13359	361	23	.	.	PUNCT
dad-13359	362	1	the	the	DET
dad-13359	362	2	prompt	prompt	NOUN
dad-13359	362	3	to	to	ADP
dad-13359	362	4	these	these	DET
dad-13359	362	5	models	model	NOUN
dad-13359	362	6	is	be	AUX
dad-13359	362	7	therefore	therefore	ADV
dad-13359	362	8	a	a	DET
dad-13359	362	9	concatenation	concatenation	NOUN
dad-13359	362	10	of	of	ADP
dad-13359	362	11	the	the	DET
dad-13359	362	12	general	general	ADJ
dad-13359	362	13	prompt	prompt	NOUN
dad-13359	362	14	describing	describe	VERB
dad-13359	362	15	the	the	DET
dad-13359	362	16	system	system	NOUN
dad-13359	362	17	’s	’s	PART
dad-13359	362	18	role	role	NOUN
dad-13359	362	19	and	and	CCONJ
dad-13359	362	20	the	the	DET
dad-13359	362	21	resulting	result	VERB
dad-13359	362	22	text	text	NOUN
dad-13359	362	23	description	description	NOUN
dad-13359	362	24	.	.	PUNCT
dad-13359	363	1	for	for	ADP
dad-13359	363	2	the	the	DET
dad-13359	363	3	third	third	ADJ
dad-13359	363	4	model	model	NOUN
dad-13359	363	5	,	,	PUNCT
dad-13359	363	6	the	the	DET
dad-13359	363	7	graph	graph	NOUN
dad-13359	363	8	information	information	NOUN
dad-13359	363	9	is	be	AUX
dad-13359	363	10	instead	instead	ADV
dad-13359	363	11	provided	provide	VERB
dad-13359	363	12	as	as	ADP
dad-13359	363	13	a	a	DET
dad-13359	363	14	list	list	NOUN
dad-13359	363	15	of	of	ADP
dad-13359	363	16	semantic	semantic	ADJ
dad-13359	363	17	triples	triple	NOUN
dad-13359	363	18	directly	directly	ADV
dad-13359	363	19	describing	describe	VERB
dad-13359	363	20	the	the	DET
dad-13359	363	21	edges	edge	NOUN
dad-13359	363	22	of	of	ADP
dad-13359	363	23	the	the	DET
dad-13359	363	24	graph	graph	NOUN
dad-13359	363	25	,	,	PUNCT
dad-13359	363	26	as	as	SCONJ
dad-13359	363	27	illustrated	illustrate	VERB
dad-13359	363	28	in	in	ADP
dad-13359	363	29	figure	figure	NOUN
dad-13359	363	30	4	4	NUM
dad-13359	363	31	.	.	PUNCT
dad-13359	364	1	due	due	ADP
dad-13359	364	2	to	to	ADP
dad-13359	364	3	technical	technical	ADJ
dad-13359	364	4	issues	issue	NOUN
dad-13359	364	5	encountered	encounter	VERB
dad-13359	364	6	with	with	ADP
dad-13359	364	7	a	a	DET
dad-13359	364	8	few	few	ADJ
dad-13359	364	9	interactions	interaction	NOUN
dad-13359	364	10	,	,	PUNCT
dad-13359	364	11	there	there	PRON
dad-13359	364	12	is	be	VERB
dad-13359	364	13	a	a	DET
dad-13359	364	14	slight	slight	ADJ
dad-13359	364	15	imbalance	imbalance	NOUN
dad-13359	364	16	in	in	ADP
dad-13359	364	17	the	the	DET
dad-13359	364	18	number	number	NOUN
dad-13359	364	19	of	of	ADP
dad-13359	364	20	dialogues	dialogue	NOUN
dad-13359	364	21	collected	collect	VERB
dad-13359	364	22	for	for	ADP
dad-13359	364	23	each	each	DET
dad-13359	364	24	model	model	NOUN
dad-13359	364	25	(	(	PUNCT
dad-13359	364	26	gpt	gpt	NOUN
dad-13359	364	27	-	-	PUNCT
dad-13359	364	28	triples	triple	NOUN
dad-13359	364	29	:	:	PUNCT
dad-13359	364	30	16	16	NUM
dad-13359	364	31	,	,	PUNCT
dad-13359	364	32	gpt	gpt	NOUN
dad-13359	364	33	-	-	PUNCT
dad-13359	364	34	verbal	verbal	ADJ
dad-13359	364	35	:	:	PUNCT
dad-13359	364	36	17	17	NUM
dad-13359	364	37	,	,	PUNCT
dad-13359	364	38	llama	llama	NOUN
dad-13359	364	39	:	:	PUNCT
dad-13359	364	40	19	19	NUM
dad-13359	364	41	)	)	PUNCT
dad-13359	364	42	.	.	PUNCT
dad-13359	365	1	this	this	PRON
dad-13359	365	2	,	,	PUNCT
dad-13359	365	3	however	however	ADV
dad-13359	365	4	,	,	PUNCT
dad-13359	365	5	does	do	AUX
dad-13359	365	6	not	not	PART
dad-13359	365	7	affect	affect	VERB
dad-13359	365	8	the	the	DET
dad-13359	365	9	statistical	statistical	ADJ
dad-13359	365	10	significance	significance	NOUN
dad-13359	365	11	of	of	ADP
dad-13359	365	12	the	the	DET
dad-13359	365	13	experimental	experimental	ADJ
dad-13359	365	14	results	result	NOUN
dad-13359	365	15	,	,	PUNCT
dad-13359	365	16	detailed	detail	VERB
dad-13359	365	17	below	below	ADV
dad-13359	365	18	.	.	PUNCT
dad-13359	366	1	the	the	DET
dad-13359	366	2	llm	llm	PROPN
dad-13359	366	3	-	-	PUNCT
dad-13359	366	4	generated	generate	VERB
dad-13359	366	5	robot	robot	NOUN
dad-13359	366	6	responses	response	NOUN
dad-13359	366	7	are	be	AUX
dad-13359	366	8	sent	send	VERB
dad-13359	366	9	to	to	ADP
dad-13359	366	10	the	the	DET
dad-13359	366	11	text	text	NOUN
dad-13359	366	12	-	-	PUNCT
dad-13359	366	13	to	to	ADP
dad-13359	366	14	-	-	PUNCT
dad-13359	366	15	speech	speech	NOUN
dad-13359	366	16	engine	engine	NOUN
dad-13359	366	17	embedded	embed	VERB
dad-13359	366	18	on	on	ADP
dad-13359	366	19	the	the	DET
dad-13359	366	20	pepper	pepper	NOUN
dad-13359	366	21	platform	platform	NOUN
dad-13359	366	22	.	.	PUNCT
dad-13359	367	1	when	when	SCONJ
dad-13359	367	2	speaking	speak	VERB
dad-13359	367	3	,	,	PUNCT
dad-13359	367	4	the	the	DET
dad-13359	367	5	robot	robot	NOUN
dad-13359	367	6	also	also	ADV
dad-13359	367	7	makes	make	VERB
dad-13359	367	8	basic	basic	ADJ
dad-13359	367	9	hand	hand	NOUN
dad-13359	367	10	gestures	gesture	NOUN
dad-13359	367	11	and	and	CCONJ
dad-13359	367	12	movement	movement	NOUN
dad-13359	367	13	to	to	PART
dad-13359	367	14	accompany	accompany	VERB
dad-13359	367	15	its	its	PRON
dad-13359	367	16	response	response	NOUN
dad-13359	367	17	,	,	PUNCT
dad-13359	367	18	using	use	VERB
dad-13359	367	19	the	the	DET
dad-13359	367	20	off	off	ADP
dad-13359	367	21	-	-	PUNCT
dad-13359	367	22	the	the	DET
dad-13359	367	23	-	-	PUNCT
dad-13359	367	24	shelf	shelf	NOUN
dad-13359	367	25	library	library	NOUN
dad-13359	367	26	made	make	VERB
dad-13359	367	27	available	available	ADJ
dad-13359	367	28	on	on	ADP
dad-13359	367	29	the	the	DET
dad-13359	367	30	pepper	pepper	NOUN
dad-13359	367	31	platform	platform	NOUN
dad-13359	367	32	.	.	PUNCT
dad-13359	368	1	4.3	4.3	NUM
dad-13359	368	2	user	user	NOUN
dad-13359	368	3	evaluation	evaluation	NOUN
dad-13359	368	4	right	right	ADV
dad-13359	368	5	after	after	ADP
dad-13359	368	6	the	the	DET
dad-13359	368	7	conclusion	conclusion	NOUN
dad-13359	368	8	of	of	ADP
dad-13359	368	9	each	each	DET
dad-13359	368	10	dialogue	dialogue	NOUN
dad-13359	368	11	,	,	PUNCT
dad-13359	368	12	the	the	DET
dad-13359	368	13	participants	participant	NOUN
dad-13359	368	14	were	be	AUX
dad-13359	368	15	asked	ask	VERB
dad-13359	368	16	to	to	PART
dad-13359	368	17	rate	rate	VERB
dad-13359	368	18	two	two	NUM
dad-13359	368	19	statements	statement	NOUN
dad-13359	368	20	about	about	ADP
dad-13359	368	21	the	the	DET
dad-13359	368	22	dialogue	dialogue	NOUN
dad-13359	368	23	on	on	ADP
dad-13359	368	24	a	a	DET
dad-13359	368	25	likert	likert	ADJ
dad-13359	368	26	scale	scale	NOUN
dad-13359	368	27	of	of	ADP
dad-13359	368	28	1	1	NUM
dad-13359	368	29	to	to	PART
dad-13359	368	30	5	5	NUM
dad-13359	368	31	for	for	ADP
dad-13359	368	32	two	two	NUM
dad-13359	368	33	statements	statement	NOUN
dad-13359	368	34	where	where	SCONJ
dad-13359	368	35	1	1	NUM
dad-13359	368	36	is	be	AUX
dad-13359	368	37	“	"	PUNCT
dad-13359	368	38	never	never	ADV
dad-13359	368	39	”	"	PUNCT
dad-13359	368	40	,	,	PUNCT
dad-13359	368	41	2	2	NUM
dad-13359	368	42	is	be	AUX
dad-13359	368	43	“	"	PUNCT
dad-13359	368	44	mostly	mostly	ADV
dad-13359	368	45	not	not	PART
dad-13359	368	46	”	"	PUNCT
dad-13359	368	47	,	,	PUNCT
dad-13359	368	48	3	3	NUM
dad-13359	368	49	“	"	PUNCT
dad-13359	368	50	sometimes	sometimes	ADV
dad-13359	368	51	”	"	PUNCT
dad-13359	368	52	,	,	PUNCT
dad-13359	368	53	4	4	NUM
dad-13359	368	54	“	"	PUNCT
dad-13359	368	55	mostly	mostly	ADV
dad-13359	368	56	”	"	PUNCT
dad-13359	368	57	,	,	PUNCT
dad-13359	368	58	and	and	CCONJ
dad-13359	368	59	5	5	NUM
dad-13359	368	60	“	"	PUNCT
dad-13359	368	61	always	always	ADV
dad-13359	368	62	”	"	PUNCT
dad-13359	368	63	:	:	PUNCT
dad-13359	368	64	statement	statement	NOUN
dad-13359	368	65	1	1	NUM
dad-13359	368	66	(	(	PUNCT
dad-13359	368	67	factuality	factuality	NOUN
dad-13359	368	68	):	):	PUNCT
dad-13359	368	69	the	the	DET
dad-13359	368	70	robot	robot	NOUN
dad-13359	368	71	responded	respond	VERB
dad-13359	368	72	factually	factually	ADV
dad-13359	368	73	according	accord	VERB
dad-13359	368	74	to	to	ADP
dad-13359	368	75	what	what	PRON
dad-13359	368	76	we	we	PRON
dad-13359	368	77	saw	see	VERB
dad-13359	368	78	on	on	ADP
dad-13359	368	79	the	the	DET
dad-13359	368	80	tour	tour	NOUN
dad-13359	368	81	.	.	PUNCT
dad-13359	369	1	statement	statement	NOUN
dad-13359	369	2	2	2	NUM
dad-13359	369	3	(	(	PUNCT
dad-13359	369	4	conversational	conversational	ADJ
dad-13359	369	5	adequacy	adequacy	NOUN
dad-13359	369	6	):	):	PUNCT
dad-13359	369	7	the	the	DET
dad-13359	369	8	robot	robot	NOUN
dad-13359	369	9	answered	answer	VERB
dad-13359	369	10	my	my	PRON
dad-13359	369	11	questions	question	NOUN
dad-13359	369	12	and	and	CCONJ
dad-13359	369	13	responded	respond	VERB
dad-13359	369	14	in	in	ADP
dad-13359	369	15	a	a	DET
dad-13359	369	16	relevant	relevant	ADJ
dad-13359	369	17	,	,	PUNCT
dad-13359	369	18	natural	natural	ADJ
dad-13359	369	19	,	,	PUNCT
dad-13359	369	20	and	and	CCONJ
dad-13359	369	21	concise	concise	ADJ
dad-13359	369	22	manner	manner	NOUN
dad-13359	369	23	.	.	PUNCT
dad-13359	370	1	table	table	NOUN
dad-13359	370	2	2	2	NUM
dad-13359	370	3	shows	show	VERB
dad-13359	370	4	the	the	DET
dad-13359	370	5	average	average	ADJ
dad-13359	370	6	scores	score	NOUN
dad-13359	370	7	given	give	VERB
dad-13359	370	8	to	to	ADP
dad-13359	370	9	each	each	DET
dad-13359	370	10	model	model	NOUN
dad-13359	370	11	for	for	ADP
dad-13359	370	12	both	both	DET
dad-13359	370	13	statements	statement	NOUN
dad-13359	370	14	,	,	PUNCT
dad-13359	370	15	while	while	SCONJ
dad-13359	370	16	figure	figure	NOUN
dad-13359	370	17	7	7	NUM
dad-13359	370	18	provides	provide	VERB
dad-13359	370	19	a	a	DET
dad-13359	370	20	box	box	NOUN
dad-13359	370	21	plot	plot	NOUN
dad-13359	370	22	of	of	ADP
dad-13359	370	23	the	the	DET
dad-13359	370	24	user	user	NOUN
dad-13359	370	25	scores	score	NOUN
dad-13359	370	26	for	for	ADP
dad-13359	370	27	statement	statement	NOUN
dad-13359	370	28	1	1	NUM
dad-13359	370	29	.	.	PUNCT
dad-13359	371	1	the	the	DET
dad-13359	371	2	user	user	NOUN
dad-13359	371	3	ratings	rating	NOUN
dad-13359	371	4	show	show	VERB
dad-13359	371	5	that	that	SCONJ
dad-13359	371	6	participants	participant	NOUN
dad-13359	371	7	generally	generally	ADV
dad-13359	371	8	rated	rate	VERB
dad-13359	371	9	the	the	DET
dad-13359	371	10	models	model	NOUN
dad-13359	371	11	using	use	VERB
dad-13359	371	12	verbalized	verbalize	VERB
dad-13359	371	13	documents	document	NOUN
dad-13359	371	14	higher	high	ADJ
dad-13359	371	15	in	in	ADP
dad-13359	371	16	factuality	factuality	NOUN
dad-13359	371	17	than	than	ADP
dad-13359	371	18	the	the	DET
dad-13359	371	19	model	model	NOUN
dad-13359	371	20	based	base	VERB
dad-13359	371	21	on	on	ADP
dad-13359	371	22	semantic	semantic	ADJ
dad-13359	371	23	triples	triple	NOUN
dad-13359	371	24	,	,	PUNCT
dad-13359	371	25	while	while	SCONJ
dad-13359	371	26	providing	provide	VERB
dad-13359	371	27	similar	similar	ADJ
dad-13359	371	28	scores	score	NOUN
dad-13359	371	29	to	to	ADP
dad-13359	371	30	all	all	DET
dad-13359	371	31	models	model	NOUN
dad-13359	371	32	for	for	ADP
dad-13359	371	33	the	the	DET
dad-13359	371	34	second	second	ADJ
dad-13359	371	35	statement	statement	NOUN
dad-13359	371	36	regarding	regard	VERB
dad-13359	371	37	the	the	DET
dad-13359	371	38	conversational	conversational	ADJ
dad-13359	371	39	adequacy	adequacy	NOUN
dad-13359	371	40	of	of	ADP
dad-13359	371	41	the	the	DET
dad-13359	371	42	robot	robot	NOUN
dad-13359	371	43	responses	response	NOUN
dad-13359	371	44	.	.	PUNCT
dad-13359	372	1	to	to	PART
dad-13359	372	2	statistically	statistically	ADV
dad-13359	372	3	evaluate	evaluate	VERB
dad-13359	372	4	the	the	DET
dad-13359	372	5	difference	difference	NOUN
dad-13359	372	6	in	in	ADP
dad-13359	372	7	scores	score	NOUN
dad-13359	372	8	between	between	ADP
dad-13359	372	9	the	the	DET
dad-13359	372	10	models	model	NOUN
dad-13359	372	11	,	,	PUNCT
dad-13359	372	12	we	we	PRON
dad-13359	372	13	use	use	VERB
dad-13359	372	14	the	the	DET
dad-13359	372	15	wilcoxon	wilcoxon	NOUN
dad-13359	372	16	signed	sign	VERB
dad-13359	372	17	rank	rank	NOUN
dad-13359	372	18	test	test	NOUN
dad-13359	372	19	(	(	PUNCT
dad-13359	372	20	wilcoxon	wilcoxon	ADJ
dad-13359	372	21	,	,	PUNCT
dad-13359	372	22	1945	1945	NUM
dad-13359	372	23	)	)	PUNCT
dad-13359	372	24	with	with	ADP
dad-13359	372	25	the	the	DET
dad-13359	372	26	typical	typical	ADJ
dad-13359	372	27	threshold	threshold	NOUN
dad-13359	372	28	for	for	ADP
dad-13359	372	29	significance	significance	NOUN
dad-13359	372	30	α	α	NOUN
dad-13359	372	31	=	=	NOUN
dad-13359	372	32	0.05	0.05	NUM
dad-13359	372	33	and	and	CCONJ
dad-13359	372	34	the	the	DET
dad-13359	372	35	required	require	VERB
dad-13359	372	36	number	number	NOUN
dad-13359	372	37	of	of	ADP
dad-13359	372	38	samples	sample	NOUN
dad-13359	372	39	n	n	NOUN
dad-13359	372	40	=	=	SYM
dad-13359	372	41	16	16	NUM
dad-13359	372	42	.	.	PUNCT
dad-13359	373	1	we	we	PRON
dad-13359	373	2	first	first	ADV
dad-13359	373	3	evaluate	evaluate	VERB
dad-13359	373	4	both	both	DET
dad-13359	373	5	alternative	alternative	ADJ
dad-13359	373	6	models	model	NOUN
dad-13359	373	7	pairwise	pairwise	VERB
dad-13359	373	8	against	against	ADP
dad-13359	373	9	the	the	DET
dad-13359	373	10	baseline	baseline	PROPN
dad-13359	373	11	model	model	NOUN
dad-13359	373	12	.	.	PUNCT
dad-13359	374	1	regarding	regard	VERB
dad-13359	374	2	the	the	DET
dad-13359	374	3	first	first	ADJ
dad-13359	374	4	statement	statement	NOUN
dad-13359	374	5	,	,	PUNCT
dad-13359	374	6	between	between	ADP
dad-13359	374	7	the	the	DET
dad-13359	374	8	gpt	gpt	NOUN
dad-13359	374	9	-	-	PUNCT
dad-13359	374	10	verbal	verbal	ADJ
dad-13359	374	11	model	model	NOUN
dad-13359	374	12	and	and	CCONJ
dad-13359	374	13	the	the	DET
dad-13359	374	14	gpt	gpt	NOUN
dad-13359	374	15	76	76	NUM
dad-13359	374	16	a	a	DET
dad-13359	374	17	graph	graph	NOUN
dad-13359	374	18	-	-	PUNCT
dad-13359	374	19	to	to	ADP
dad-13359	374	20	-	-	PUNCT
dad-13359	374	21	text	text	NOUN
dad-13359	374	22	approach	approach	NOUN
dad-13359	374	23	to	to	ADP
dad-13359	374	24	knowledge	knowledge	NOUN
dad-13359	374	25	-	-	PUNCT
dad-13359	374	26	grounded	ground	VERB
dad-13359	374	27	response	response	NOUN
dad-13359	374	28	generation	generation	NOUN
dad-13359	374	29	in	in	ADP
dad-13359	374	30	hri	hri	PROPN
dad-13359	374	31	u	u	PROPN
dad-13359	374	32	s	s	PROPN
dad-13359	374	33	e	e	NOUN
dad-13359	374	34	r	r	NOUN
dad-13359	374	35	s	s	NOUN
dad-13359	374	36	c	c	NOUN
dad-13359	374	37	o	o	NOUN
dad-13359	374	38	r	r	NOUN
dad-13359	374	39	e	e	NOUN
dad-13359	374	40	w	w	NOUN
dad-13359	374	41	1	1	NUM
dad-13359	374	42	2	2	NUM
dad-13359	374	43	4	4	NUM
dad-13359	374	44	5	5	NUM
dad-13359	374	45	미	미	PRON
dad-13359	374	46	factuality	factuality	NOUN
dad-13359	374	47	gpt	gpt	NOUN
dad-13359	374	48	-	-	PUNCT
dad-13359	374	49	triples	triple	NOUN
dad-13359	374	50	gpt	gpt	NOUN
dad-13359	374	51	-	-	PUNCT
dad-13359	374	52	verbal	verbal	ADJ
dad-13359	374	53	model	model	NOUN
dad-13359	374	54	llama	llama	PROPN
dad-13359	374	55	u	u	PROPN
dad-13359	374	56	s	s	PROPN
dad-13359	374	57	e	e	NOUN
dad-13359	374	58	r	r	NOUN
dad-13359	374	59	s	s	NOUN
dad-13359	374	60	c	c	NOUN
dad-13359	374	61	o	o	NOUN
dad-13359	374	62	r	r	NOUN
dad-13359	374	63	e	e	NOUN
dad-13359	374	64	3	3	NUM
dad-13359	374	65	1	1	NUM
dad-13359	374	66	2	2	NUM
dad-13359	374	67	4	4	NUM
dad-13359	374	68	5	5	NUM
dad-13359	374	69	미	미	PROPN
dad-13359	374	70	adequacy	adequacy	NOUN
dad-13359	374	71	gpt	gpt	NOUN
dad-13359	374	72	-	-	PUNCT
dad-13359	374	73	triples	triple	NOUN
dad-13359	374	74	gpt	gpt	NOUN
dad-13359	374	75	-	-	PUNCT
dad-13359	374	76	verbal	verbal	ADJ
dad-13359	374	77	model	model	NOUN
dad-13359	374	78	llama	llama	PROPN
dad-13359	374	79	미	미	PROPN
dad-13359	374	80	figure	figure	NOUN
dad-13359	374	81	7	7	NUM
dad-13359	374	82	:	:	PUNCT
dad-13359	374	83	box	box	NOUN
dad-13359	374	84	plots	plot	NOUN
dad-13359	374	85	of	of	ADP
dad-13359	374	86	the	the	DET
dad-13359	374	87	results	result	NOUN
dad-13359	374	88	for	for	ADP
dad-13359	374	89	each	each	DET
dad-13359	374	90	statement	statement	NOUN
dad-13359	374	91	:	:	PUNCT
dad-13359	374	92	the	the	DET
dad-13359	374	93	dotted	dotted	ADJ
dad-13359	374	94	line	line	NOUN
dad-13359	374	95	in	in	ADP
dad-13359	374	96	each	each	DET
dad-13359	374	97	box	box	NOUN
dad-13359	374	98	represents	represent	VERB
dad-13359	374	99	the	the	DET
dad-13359	374	100	median	median	NOUN
dad-13359	374	101	,	,	PUNCT
dad-13359	374	102	while	while	SCONJ
dad-13359	374	103	the	the	DET
dad-13359	374	104	white	white	ADJ
dad-13359	374	105	inner	inner	ADJ
dad-13359	374	106	square	square	NOUN
dad-13359	374	107	displays	display	VERB
dad-13359	374	108	the	the	DET
dad-13359	374	109	mean	mean	ADJ
dad-13359	374	110	user	user	NOUN
dad-13359	374	111	score	score	NOUN
dad-13359	374	112	for	for	ADP
dad-13359	374	113	each	each	DET
dad-13359	374	114	model	model	NOUN
dad-13359	374	115	.	.	PUNCT
dad-13359	375	1	model	model	NOUN
dad-13359	375	2	based	base	VERB
dad-13359	375	3	on	on	ADP
dad-13359	375	4	semantic	semantic	ADJ
dad-13359	375	5	triples	triple	NOUN
dad-13359	375	6	we	we	PRON
dad-13359	375	7	find	find	VERB
dad-13359	375	8	a	a	DET
dad-13359	375	9	difference	difference	NOUN
dad-13359	375	10	of	of	ADP
dad-13359	375	11	p	p	NOUN
dad-13359	375	12	=	=	SYM
dad-13359	375	13	0.03,w	0.03,w	PROPN
dad-13359	375	14	=	=	SYM
dad-13359	375	15	1.86	1.86	NUM
dad-13359	375	16	.	.	PUNCT
dad-13359	376	1	we	we	PRON
dad-13359	376	2	found	find	VERB
dad-13359	376	3	no	no	DET
dad-13359	376	4	statistically	statistically	ADV
dad-13359	376	5	significant	significant	ADJ
dad-13359	376	6	difference	difference	NOUN
dad-13359	376	7	between	between	ADP
dad-13359	376	8	the	the	DET
dad-13359	376	9	scores	score	NOUN
dad-13359	376	10	of	of	ADP
dad-13359	376	11	the	the	DET
dad-13359	376	12	llama	llama	NOUN
dad-13359	376	13	model	model	NOUN
dad-13359	376	14	and	and	CCONJ
dad-13359	376	15	the	the	DET
dad-13359	376	16	semantic	semantic	ADJ
dad-13359	376	17	triples	triple	NOUN
dad-13359	376	18	model	model	NOUN
dad-13359	376	19	(	(	PUNCT
dad-13359	376	20	p	p	X
dad-13359	376	21	=	=	NOUN
dad-13359	376	22	0.13	0.13	NUM
dad-13359	376	23	,	,	PUNCT
dad-13359	376	24	w	w	NOUN
dad-13359	376	25	=	=	NOUN
dad-13359	376	26	1.13	1.13	NUM
dad-13359	376	27	)	)	PUNCT
dad-13359	376	28	for	for	ADP
dad-13359	376	29	this	this	DET
dad-13359	376	30	statement	statement	NOUN
dad-13359	376	31	.	.	PUNCT
dad-13359	377	1	likewise	likewise	ADV
dad-13359	377	2	,	,	PUNCT
dad-13359	377	3	we	we	PRON
dad-13359	377	4	find	find	VERB
dad-13359	377	5	no	no	DET
dad-13359	377	6	statistically	statistically	ADV
dad-13359	377	7	significant	significant	ADJ
dad-13359	377	8	difference	difference	NOUN
dad-13359	377	9	between	between	ADP
dad-13359	377	10	either	either	PRON
dad-13359	377	11	gpt	gpt	NOUN
dad-13359	377	12	-	-	PUNCT
dad-13359	377	13	verbal	verbal	ADJ
dad-13359	377	14	(	(	PUNCT
dad-13359	377	15	p	p	X
dad-13359	377	16	=	=	NOUN
dad-13359	377	17	0.25	0.25	NUM
dad-13359	377	18	,	,	PUNCT
dad-13359	377	19	w	w	NOUN
dad-13359	377	20	=	=	NOUN
dad-13359	377	21	0.67	0.67	NUM
dad-13359	377	22	)	)	PUNCT
dad-13359	377	23	or	or	CCONJ
dad-13359	377	24	llama	llama	NOUN
dad-13359	377	25	(	(	PUNCT
dad-13359	377	26	p	p	X
dad-13359	377	27	=	=	PUNCT
dad-13359	377	28	0.29,w	0.29,w	PUNCT
dad-13359	377	29	=	=	SYM
dad-13359	377	30	0.54	0.54	NUM
dad-13359	377	31	)	)	PUNCT
dad-13359	377	32	scores	score	NOUN
dad-13359	377	33	with	with	ADP
dad-13359	377	34	the	the	DET
dad-13359	377	35	semantic	semantic	ADJ
dad-13359	377	36	triples	triple	NOUN
dad-13359	377	37	model	model	NOUN
dad-13359	377	38	for	for	ADP
dad-13359	377	39	the	the	DET
dad-13359	377	40	second	second	ADJ
dad-13359	377	41	statement	statement	NOUN
dad-13359	377	42	.	.	PUNCT
dad-13359	378	1	while	while	SCONJ
dad-13359	378	2	the	the	DET
dad-13359	378	3	pairwise	pairwise	NOUN
dad-13359	378	4	difference	difference	NOUN
dad-13359	378	5	in	in	ADP
dad-13359	378	6	distributions	distribution	NOUN
dad-13359	378	7	of	of	ADP
dad-13359	378	8	scores	score	NOUN
dad-13359	378	9	for	for	ADP
dad-13359	378	10	factuality	factuality	NOUN
dad-13359	378	11	between	between	ADP
dad-13359	378	12	gpt	gpt	NOUN
dad-13359	378	13	-	-	PUNCT
dad-13359	378	14	verbal	verbal	ADJ
dad-13359	378	15	and	and	CCONJ
dad-13359	378	16	the	the	DET
dad-13359	378	17	baseline	baseline	NOUN
dad-13359	378	18	were	be	AUX
dad-13359	378	19	below	below	ADP
dad-13359	378	20	our	our	PRON
dad-13359	378	21	threshold	threshold	NOUN
dad-13359	378	22	α	α	NOUN
dad-13359	378	23	=	=	NOUN
dad-13359	378	24	0.05	0.05	NUM
dad-13359	378	25	,	,	PUNCT
dad-13359	378	26	the	the	DET
dad-13359	378	27	experiment	experiment	NOUN
dad-13359	378	28	results	result	NOUN
dad-13359	378	29	may	may	AUX
dad-13359	378	30	also	also	ADV
dad-13359	378	31	be	be	AUX
dad-13359	378	32	looked	look	VERB
dad-13359	378	33	at	at	ADP
dad-13359	378	34	from	from	ADP
dad-13359	378	35	the	the	DET
dad-13359	378	36	perspective	perspective	NOUN
dad-13359	378	37	of	of	ADP
dad-13359	378	38	all	all	DET
dad-13359	378	39	models	model	NOUN
dad-13359	378	40	.	.	PUNCT
dad-13359	379	1	that	that	PRON
dad-13359	379	2	is	is	ADV
dad-13359	379	3	,	,	PUNCT
dad-13359	379	4	whether	whether	SCONJ
dad-13359	379	5	for	for	ADP
dad-13359	379	6	all	all	DET
dad-13359	379	7	models	model	NOUN
dad-13359	379	8	we	we	PRON
dad-13359	379	9	can	can	AUX
dad-13359	379	10	say	say	VERB
dad-13359	379	11	there	there	PRON
dad-13359	379	12	is	be	VERB
dad-13359	379	13	a	a	DET
dad-13359	379	14	statistically	statistically	ADV
dad-13359	379	15	significant	significant	ADJ
dad-13359	379	16	difference	difference	NOUN
dad-13359	379	17	in	in	ADP
dad-13359	379	18	outcomes	outcome	NOUN
dad-13359	379	19	(	(	PUNCT
dad-13359	379	20	whatever	whatever	DET
dad-13359	379	21	model	model	NOUN
dad-13359	379	22	is	be	AUX
dad-13359	379	23	chosen	choose	VERB
dad-13359	379	24	of	of	ADP
dad-13359	379	25	the	the	DET
dad-13359	379	26	three	three	NUM
dad-13359	379	27	)	)	PUNCT
dad-13359	379	28	.	.	PUNCT
dad-13359	380	1	to	to	PART
dad-13359	380	2	correct	correct	VERB
dad-13359	380	3	for	for	ADP
dad-13359	380	4	multiple	multiple	ADJ
dad-13359	380	5	comparisons	comparison	NOUN
dad-13359	380	6	of	of	ADP
dad-13359	380	7	this	this	DET
dad-13359	380	8	sort	sort	NOUN
dad-13359	380	9	,	,	PUNCT
dad-13359	380	10	we	we	PRON
dad-13359	380	11	apply	apply	VERB
dad-13359	380	12	bonferroni	bonferroni	NOUN
dad-13359	380	13	correction	correction	NOUN
dad-13359	380	14	to	to	PART
dad-13359	380	15	provide	provide	VERB
dad-13359	380	16	a	a	DET
dad-13359	380	17	conservative	conservative	NOUN
dad-13359	380	18	bound	bind	VERB
dad-13359	380	19	on	on	ADP
dad-13359	380	20	the	the	DET
dad-13359	380	21	resulting	result	VERB
dad-13359	380	22	p	p	NOUN
dad-13359	380	23	-	-	PUNCT
dad-13359	380	24	values	value	NOUN
dad-13359	380	25	amongst	amongst	ADP
dad-13359	380	26	all	all	DET
dad-13359	380	27	model	model	NOUN
dad-13359	380	28	comparisons	comparison	NOUN
dad-13359	380	29	.	.	PUNCT
dad-13359	381	1	with	with	ADP
dad-13359	381	2	bonferroni	bonferroni	PROPN
dad-13359	381	3	correction	correction	NOUN
dad-13359	381	4	,	,	PUNCT
dad-13359	381	5	between	between	ADP
dad-13359	381	6	the	the	DET
dad-13359	381	7	gptverbal	gptverbal	ADJ
dad-13359	381	8	model	model	NOUN
dad-13359	381	9	and	and	CCONJ
dad-13359	381	10	the	the	DET
dad-13359	381	11	baseline	baseline	PROPN
dad-13359	381	12	triples	triple	NOUN
dad-13359	381	13	model	model	VERB
dad-13359	381	14	the	the	DET
dad-13359	381	15	adjusted	adjust	VERB
dad-13359	381	16	value	value	NOUN
dad-13359	381	17	for	for	ADP
dad-13359	381	18	factuality	factuality	NOUN
dad-13359	381	19	is	be	AUX
dad-13359	381	20	p	p	NOUN
dad-13359	381	21	=	=	NOUN
dad-13359	381	22	0.1	0.1	NUM
dad-13359	381	23	,	,	PUNCT
dad-13359	381	24	and	and	CCONJ
dad-13359	381	25	for	for	ADP
dad-13359	381	26	adequacy	adequacy	NOUN
dad-13359	381	27	p	p	X
dad-13359	381	28	=	=	NOUN
dad-13359	381	29	0.75	0.75	NUM
dad-13359	381	30	.	.	PUNCT
dad-13359	382	1	for	for	ADP
dad-13359	382	2	the	the	DET
dad-13359	382	3	llama	llama	PROPN
dad-13359	382	4	model	model	NOUN
dad-13359	382	5	,	,	PUNCT
dad-13359	382	6	the	the	DET
dad-13359	382	7	values	value	NOUN
dad-13359	382	8	are	be	AUX
dad-13359	382	9	p	p	NOUN
dad-13359	382	10	=	=	NOUN
dad-13359	382	11	0.39	0.39	NUM
dad-13359	382	12	and	and	CCONJ
dad-13359	382	13	p	p	NOUN
dad-13359	382	14	=	=	NOUN
dad-13359	382	15	0.88	0.88	NUM
dad-13359	382	16	,	,	PUNCT
dad-13359	382	17	respectively	respectively	ADV
dad-13359	382	18	.	.	PUNCT
dad-13359	383	1	4.4	4.4	NUM
dad-13359	383	2	analysis	analysis	NOUN
dad-13359	383	3	4.4.1	4.4.1	NUM
dad-13359	383	4	general	general	ADJ
dad-13359	383	5	observations	observation	NOUN
dad-13359	383	6	qualitatively	qualitatively	ADV
dad-13359	383	7	,	,	PUNCT
dad-13359	383	8	the	the	DET
dad-13359	383	9	majority	majority	NOUN
dad-13359	383	10	of	of	ADP
dad-13359	383	11	factuality	factuality	NOUN
dad-13359	383	12	errors	error	NOUN
dad-13359	383	13	across	across	ADP
dad-13359	383	14	the	the	DET
dad-13359	383	15	three	three	NUM
dad-13359	383	16	models	model	NOUN
dad-13359	383	17	were	be	AUX
dad-13359	383	18	due	due	ADJ
dad-13359	383	19	to	to	PART
dad-13359	383	20	objects	object	NOUN
dad-13359	383	21	that	that	PRON
dad-13359	383	22	were	be	AUX
dad-13359	383	23	not	not	PART
dad-13359	383	24	detected	detect	VERB
dad-13359	383	25	by	by	ADP
dad-13359	383	26	the	the	DET
dad-13359	383	27	vqa	vqa	PROPN
dad-13359	383	28	model	model	NOUN
dad-13359	383	29	employed	employ	VERB
dad-13359	383	30	for	for	ADP
dad-13359	383	31	object	object	NOUN
dad-13359	383	32	and	and	CCONJ
dad-13359	383	33	person	person	NOUN
dad-13359	383	34	detection	detection	NOUN
dad-13359	383	35	,	,	PUNCT
dad-13359	383	36	and	and	CCONJ
dad-13359	383	37	were	be	AUX
dad-13359	383	38	consequently	consequently	ADV
dad-13359	383	39	not	not	PART
dad-13359	383	40	mentioned	mention	VERB
dad-13359	383	41	in	in	ADP
dad-13359	383	42	the	the	DET
dad-13359	383	43	provided	provide	VERB
dad-13359	383	44	prompt	prompt	NOUN
dad-13359	383	45	(	(	PUNCT
dad-13359	383	46	either	either	CCONJ
dad-13359	383	47	as	as	ADP
dad-13359	383	48	semantic	semantic	ADJ
dad-13359	383	49	triples	triple	NOUN
dad-13359	383	50	or	or	CCONJ
dad-13359	383	51	verbalized	verbalize	VERB
dad-13359	383	52	graph	graph	NOUN
dad-13359	383	53	)	)	PUNCT
dad-13359	383	54	.	.	PUNCT
dad-13359	384	1	although	although	SCONJ
dad-13359	384	2	those	those	DET
dad-13359	384	3	omissions	omission	NOUN
dad-13359	384	4	do	do	AUX
dad-13359	384	5	indeed	indeed	ADV
dad-13359	384	6	result	result	VERB
dad-13359	384	7	in	in	ADP
dad-13359	384	8	factually	factually	ADV
dad-13359	384	9	incorrect	incorrect	ADJ
dad-13359	384	10	statements	statement	NOUN
dad-13359	384	11	from	from	ADP
dad-13359	384	12	the	the	DET
dad-13359	384	13	robot	robot	NOUN
dad-13359	384	14	,	,	PUNCT
dad-13359	384	15	there	there	PRON
dad-13359	384	16	is	be	VERB
dad-13359	384	17	little	little	ADJ
dad-13359	384	18	that	that	PRON
dad-13359	384	19	can	can	AUX
dad-13359	384	20	be	be	AUX
dad-13359	384	21	done	do	VERB
dad-13359	384	22	from	from	ADP
dad-13359	384	23	the	the	DET
dad-13359	384	24	dialogue	dialogue	NOUN
dad-13359	384	25	side	side	NOUN
dad-13359	384	26	to	to	PART
dad-13359	384	27	correct	correct	VERB
dad-13359	384	28	this	this	DET
dad-13359	384	29	shortcoming	shortcoming	NOUN
dad-13359	384	30	.	.	PUNCT
dad-13359	385	1	the	the	DET
dad-13359	385	2	setup	setup	NOUN
dad-13359	385	3	based	base	VERB
dad-13359	385	4	on	on	ADP
dad-13359	385	5	semantic	semantic	ADJ
dad-13359	385	6	triples	triple	NOUN
dad-13359	385	7	demonstrates	demonstrate	VERB
dad-13359	385	8	a	a	DET
dad-13359	385	9	decent	decent	ADJ
dad-13359	385	10	performance	performance	NOUN
dad-13359	385	11	on	on	ADP
dad-13359	385	12	both	both	DET
dad-13359	385	13	statements	statement	NOUN
dad-13359	385	14	rated	rate	VERB
dad-13359	385	15	by	by	ADP
dad-13359	385	16	the	the	DET
dad-13359	385	17	participants	participant	NOUN
dad-13359	385	18	.	.	PUNCT
dad-13359	386	1	this	this	DET
dad-13359	386	2	model	model	NOUN
dad-13359	386	3	was	be	AUX
dad-13359	386	4	however	however	ADV
dad-13359	386	5	more	more	ADV
dad-13359	386	6	prone	prone	ADJ
dad-13359	386	7	to	to	ADP
dad-13359	386	8	asserting	assert	VERB
dad-13359	386	9	it	it	PRON
dad-13359	386	10	did	do	AUX
dad-13359	386	11	not	not	PART
dad-13359	386	12	have	have	VERB
dad-13359	386	13	information	information	NOUN
dad-13359	386	14	available	available	ADJ
dad-13359	386	15	,	,	PUNCT
dad-13359	386	16	and	and	CCONJ
dad-13359	386	17	was	be	AUX
dad-13359	386	18	generally	generally	ADV
dad-13359	386	19	unable	unable	ADJ
dad-13359	386	20	to	to	PART
dad-13359	386	21	provide	provide	VERB
dad-13359	386	22	details	detail	NOUN
dad-13359	386	23	as	as	ADP
dad-13359	386	24	to	to	ADP
dad-13359	386	25	the	the	DET
dad-13359	386	26	order	order	NOUN
dad-13359	386	27	of	of	ADP
dad-13359	386	28	rooms	room	NOUN
dad-13359	386	29	visited	visit	VERB
dad-13359	386	30	.	.	PUNCT
dad-13359	387	1	although	although	SCONJ
dad-13359	387	2	the	the	DET
dad-13359	387	3	times	time	NOUN
dad-13359	387	4	rooms	room	NOUN
dad-13359	387	5	were	be	AUX
dad-13359	387	6	entered	enter	VERB
dad-13359	387	7	were	be	AUX
dad-13359	387	8	available	available	ADJ
dad-13359	387	9	to	to	ADP
dad-13359	387	10	the	the	DET
dad-13359	387	11	model	model	NOUN
dad-13359	387	12	based	base	VERB
dad-13359	387	13	on	on	ADP
dad-13359	387	14	semantic	semantic	ADJ
dad-13359	387	15	triples	triple	NOUN
dad-13359	387	16	,	,	PUNCT
dad-13359	387	17	the	the	DET
dad-13359	387	18	structure	structure	NOUN
dad-13359	387	19	of	of	ADP
dad-13359	387	20	the	the	DET
dad-13359	387	21	input	input	NOUN
dad-13359	387	22	made	make	VERB
dad-13359	387	23	it	it	PRON
dad-13359	387	24	difficult	difficult	ADJ
dad-13359	387	25	for	for	SCONJ
dad-13359	387	26	the	the	DET
dad-13359	387	27	llm	llm	PROPN
dad-13359	387	28	to	to	PART
dad-13359	387	29	provide	provide	VERB
dad-13359	387	30	informed	informed	ADJ
dad-13359	387	31	answers	answer	NOUN
dad-13359	387	32	over	over	ADP
dad-13359	387	33	the	the	DET
dad-13359	387	34	tour	tour	NOUN
dad-13359	387	35	chronology	chronology	NOUN
dad-13359	387	36	.	.	PUNCT
dad-13359	388	1	due	due	ADP
dad-13359	388	2	to	to	ADP
dad-13359	388	3	limited	limit	VERB
dad-13359	388	4	gpu	gpu	NOUN
dad-13359	388	5	resources	resource	NOUN
dad-13359	388	6	,	,	PUNCT
dad-13359	388	7	the	the	DET
dad-13359	388	8	llama	llama	PROPN
dad-13359	388	9	model	model	NOUN
dad-13359	388	10	had	have	VERB
dad-13359	388	11	much	much	ADV
dad-13359	388	12	higher	high	ADJ
dad-13359	388	13	latency	latency	NOUN
dad-13359	388	14	in	in	ADP
dad-13359	388	15	response	response	NOUN
dad-13359	388	16	time	time	NOUN
dad-13359	388	17	.	.	PUNCT
dad-13359	389	1	this	this	DET
dad-13359	389	2	condition	condition	NOUN
dad-13359	389	3	did	do	AUX
dad-13359	389	4	not	not	PART
dad-13359	389	5	appear	appear	VERB
dad-13359	389	6	to	to	PART
dad-13359	389	7	affect	affect	VERB
dad-13359	389	8	the	the	DET
dad-13359	389	9	resultant	resultant	NOUN
dad-13359	389	10	scores	score	NOUN
dad-13359	389	11	,	,	PUNCT
dad-13359	389	12	but	but	CCONJ
dad-13359	389	13	upon	upon	SCONJ
dad-13359	389	14	inspection	inspection	NOUN
dad-13359	389	15	it	it	PRON
dad-13359	389	16	appears	appear	VERB
dad-13359	389	17	to	to	PART
dad-13359	389	18	have	have	VERB
dad-13359	389	19	77	77	NUM
dad-13359	389	20	walker	walker	NOUN
dad-13359	389	21	,	,	PUNCT
dad-13359	389	22	ultes	ulte	NOUN
dad-13359	389	23	and	and	CCONJ
dad-13359	389	24	lison	lison	NOUN
dad-13359	389	25	resulted	result	VERB
dad-13359	389	26	in	in	ADP
dad-13359	389	27	more	more	ADV
dad-13359	389	28	independent	independent	ADJ
dad-13359	389	29	questions	question	NOUN
dad-13359	389	30	rather	rather	ADV
dad-13359	389	31	than	than	ADP
dad-13359	389	32	ones	one	NOUN
dad-13359	389	33	building	build	VERB
dad-13359	389	34	upon	upon	SCONJ
dad-13359	389	35	each	each	DET
dad-13359	389	36	other	other	ADJ
dad-13359	389	37	.	.	PUNCT
dad-13359	390	1	participants	participant	NOUN
dad-13359	390	2	generally	generally	ADV
dad-13359	390	3	appeared	appear	VERB
dad-13359	390	4	to	to	AUX
dad-13359	390	5	more	more	ADV
dad-13359	390	6	fluently	fluently	ADV
dad-13359	390	7	express	express	VERB
dad-13359	390	8	themselves	themselves	PRON
dad-13359	390	9	to	to	ADP
dad-13359	390	10	the	the	DET
dad-13359	390	11	gpt	gpt	NOUN
dad-13359	390	12	models	model	NOUN
dad-13359	390	13	,	,	PUNCT
dad-13359	390	14	sometimes	sometimes	ADV
dad-13359	390	15	with	with	ADP
dad-13359	390	16	offtopic	offtopic	ADJ
dad-13359	390	17	utterances	utterance	NOUN
dad-13359	390	18	.	.	PUNCT
dad-13359	391	1	moreover	moreover	ADV
dad-13359	391	2	,	,	PUNCT
dad-13359	391	3	the	the	DET
dad-13359	391	4	llama	llama	PROPN
dad-13359	391	5	model	model	NOUN
dad-13359	391	6	’s	’s	PART
dad-13359	391	7	responses	response	NOUN
dad-13359	391	8	to	to	ADP
dad-13359	391	9	questions	question	NOUN
dad-13359	391	10	about	about	ADP
dad-13359	391	11	what	what	PRON
dad-13359	391	12	it	it	PRON
dad-13359	391	13	saw	see	VERB
dad-13359	391	14	tended	tend	VERB
dad-13359	391	15	to	to	PART
dad-13359	391	16	lean	lean	VERB
dad-13359	391	17	to	to	ADP
dad-13359	391	18	absolute	absolute	ADJ
dad-13359	391	19	“	"	PUNCT
dad-13359	391	20	yes	yes	NOUN
dad-13359	391	21	”	"	PUNCT
dad-13359	391	22	and	and	CCONJ
dad-13359	391	23	“	"	PUNCT
dad-13359	391	24	no	no	INTJ
dad-13359	391	25	”	"	PUNCT
dad-13359	391	26	.	.	PUNCT
dad-13359	392	1	the	the	DET
dad-13359	392	2	llama	llama	PROPN
dad-13359	392	3	model	model	NOUN
dad-13359	392	4	lastly	lastly	ADV
dad-13359	392	5	tended	tend	VERB
dad-13359	392	6	to	to	PART
dad-13359	392	7	provide	provide	VERB
dad-13359	392	8	numbered	numbered	ADJ
dad-13359	392	9	lists	list	NOUN
dad-13359	392	10	of	of	ADP
dad-13359	392	11	observations	observation	NOUN
dad-13359	392	12	within	within	ADP
dad-13359	392	13	the	the	DET
dad-13359	392	14	tour	tour	NOUN
dad-13359	392	15	,	,	PUNCT
dad-13359	392	16	resulting	result	VERB
dad-13359	392	17	in	in	ADP
dad-13359	392	18	more	more	ADJ
dad-13359	392	19	verbose	verbose	ADJ
dad-13359	392	20	conversational	conversational	ADJ
dad-13359	392	21	behavior	behavior	NOUN
dad-13359	392	22	.	.	PUNCT
dad-13359	393	1	4.4.2	4.4.2	NUM
dad-13359	393	2	negation	negation	NOUN
dad-13359	393	3	words	word	NOUN
dad-13359	393	4	to	to	PART
dad-13359	393	5	further	far	ADV
dad-13359	393	6	explore	explore	VERB
dad-13359	393	7	the	the	DET
dad-13359	393	8	difference	difference	NOUN
dad-13359	393	9	in	in	ADP
dad-13359	393	10	factuality	factuality	NOUN
dad-13359	393	11	scores	score	NOUN
dad-13359	393	12	,	,	PUNCT
dad-13359	393	13	we	we	PRON
dad-13359	393	14	also	also	ADV
dad-13359	393	15	analyzed	analyze	VERB
dad-13359	393	16	the	the	DET
dad-13359	393	17	occurrence	occurrence	NOUN
dad-13359	393	18	of	of	ADP
dad-13359	393	19	negation	negation	NOUN
dad-13359	393	20	words	word	NOUN
dad-13359	393	21	.	.	PUNCT
dad-13359	394	1	the	the	DET
dad-13359	394	2	following	follow	VERB
dad-13359	394	3	list	list	NOUN
dad-13359	394	4	was	be	AUX
dad-13359	394	5	used	use	VERB
dad-13359	394	6	:	:	PUNCT
dad-13359	394	7	“	"	PUNCT
dad-13359	394	8	no	no	INTJ
dad-13359	394	9	”	"	PUNCT
dad-13359	394	10	,	,	PUNCT
dad-13359	394	11	“	"	PUNCT
dad-13359	394	12	not	not	PART
dad-13359	394	13	”	"	PUNCT
dad-13359	394	14	,	,	PUNCT
dad-13359	394	15	“	"	PUNCT
dad-13359	394	16	ca	can	AUX
dad-13359	394	17	n’t	not	PART
dad-13359	394	18	”	"	PUNCT
dad-13359	394	19	,	,	PUNCT
dad-13359	394	20	“	"	PUNCT
dad-13359	394	21	do	do	VERB
dad-13359	394	22	n’t	not	PART
dad-13359	394	23	”	"	PUNCT
dad-13359	394	24	,	,	PUNCT
dad-13359	394	25	“	"	PUNCT
dad-13359	394	26	unable	unable	ADJ
dad-13359	394	27	”	"	PUNCT
dad-13359	394	28	and	and	CCONJ
dad-13359	394	29	“	"	PUNCT
dad-13359	394	30	can	can	AUX
dad-13359	394	31	not	not	PART
dad-13359	394	32	”	"	PUNCT
dad-13359	394	33	.	.	PUNCT
dad-13359	395	1	as	as	SCONJ
dad-13359	395	2	shown	show	VERB
dad-13359	395	3	in	in	ADP
dad-13359	395	4	table	table	NOUN
dad-13359	395	5	3	3	NUM
dad-13359	395	6	,	,	PUNCT
dad-13359	395	7	the	the	DET
dad-13359	395	8	number	number	NOUN
dad-13359	395	9	of	of	ADP
dad-13359	395	10	negation	negation	NOUN
dad-13359	395	11	words	word	NOUN
dad-13359	395	12	was	be	AUX
dad-13359	395	13	much	much	ADV
dad-13359	395	14	higher	high	ADJ
dad-13359	395	15	in	in	ADP
dad-13359	395	16	the	the	DET
dad-13359	395	17	model	model	NOUN
dad-13359	395	18	based	base	VERB
dad-13359	395	19	on	on	ADP
dad-13359	395	20	semantic	semantic	ADJ
dad-13359	395	21	triples	triple	NOUN
dad-13359	395	22	.	.	PUNCT
dad-13359	396	1	the	the	DET
dad-13359	396	2	higher	high	ADJ
dad-13359	396	3	occurrence	occurrence	NOUN
dad-13359	396	4	of	of	ADP
dad-13359	396	5	those	those	DET
dad-13359	396	6	words	word	NOUN
dad-13359	396	7	reflects	reflect	VERB
dad-13359	396	8	the	the	DET
dad-13359	396	9	tendency	tendency	NOUN
dad-13359	396	10	of	of	ADP
dad-13359	396	11	this	this	DET
dad-13359	396	12	model	model	NOUN
dad-13359	396	13	to	to	PART
dad-13359	396	14	refrain	refrain	VERB
dad-13359	396	15	from	from	ADP
dad-13359	396	16	providing	provide	VERB
dad-13359	396	17	certain	certain	ADJ
dad-13359	396	18	details	detail	NOUN
dad-13359	396	19	,	,	PUNCT
dad-13359	396	20	particularly	particularly	ADV
dad-13359	396	21	the	the	DET
dad-13359	396	22	order	order	NOUN
dad-13359	396	23	of	of	ADP
dad-13359	396	24	visited	visit	VERB
dad-13359	396	25	locations	location	NOUN
dad-13359	396	26	and	and	CCONJ
dad-13359	396	27	the	the	DET
dad-13359	396	28	time	time	NOUN
dad-13359	396	29	spent	spend	VERB
dad-13359	396	30	in	in	ADP
dad-13359	396	31	them	they	PRON
dad-13359	396	32	.	.	PUNCT
dad-13359	397	1	model	model	NOUN
dad-13359	397	2	“	"	PUNCT
dad-13359	397	3	not	not	PART
dad-13359	397	4	”	"	PUNCT
dad-13359	397	5	“	"	PUNCT
dad-13359	397	6	can	can	AUX
dad-13359	397	7	not	not	PART
dad-13359	397	8	”	"	PUNCT
dad-13359	397	9	“	"	PUNCT
dad-13359	397	10	no	no	INTJ
dad-13359	397	11	”	"	PUNCT
dad-13359	397	12	other	other	ADJ
dad-13359	397	13	*	*	PUNCT
dad-13359	397	14	total	total	ADJ
dad-13359	397	15	gpttriples	gpttriple	NOUN
dad-13359	397	16	69	69	NUM
dad-13359	397	17	13	13	NUM
dad-13359	397	18	14	14	NUM
dad-13359	397	19	16	16	NUM
dad-13359	397	20	112	112	NUM
dad-13359	397	21	gptverbal	gptverbal	ADJ
dad-13359	397	22	48	48	NUM
dad-13359	397	23	3	3	NUM
dad-13359	397	24	2	2	NUM
dad-13359	397	25	15	15	NUM
dad-13359	397	26	68	68	NUM
dad-13359	397	27	llamaverbal	llamaverbal	NUM
dad-13359	397	28	56	56	NUM
dad-13359	397	29	0	0	NUM
dad-13359	397	30	28	28	NUM
dad-13359	397	31	7	7	NUM
dad-13359	397	32	91	91	NUM
dad-13359	397	33	table	table	NOUN
dad-13359	397	34	3	3	NUM
dad-13359	397	35	:	:	PUNCT
dad-13359	397	36	count	count	NOUN
dad-13359	397	37	of	of	ADP
dad-13359	397	38	negation	negation	NOUN
dad-13359	397	39	words	word	NOUN
dad-13359	397	40	by	by	ADP
dad-13359	397	41	model	model	NOUN
dad-13359	397	42	.	.	PUNCT
dad-13359	398	1	4.4.3	4.4.3	NUM
dad-13359	398	2	expression	expression	NOUN
dad-13359	398	3	of	of	ADP
dad-13359	398	4	uncertainty	uncertainty	NOUN
dad-13359	398	5	to	to	PART
dad-13359	398	6	investigate	investigate	VERB
dad-13359	398	7	the	the	DET
dad-13359	398	8	models	model	NOUN
dad-13359	398	9	’	'	PUNCT
dad-13359	398	10	ability	ability	NOUN
dad-13359	398	11	to	to	PART
dad-13359	398	12	express	express	VERB
dad-13359	398	13	probability	probability	NOUN
dad-13359	398	14	and	and	CCONJ
dad-13359	398	15	uncertainty	uncertainty	NOUN
dad-13359	398	16	,	,	PUNCT
dad-13359	398	17	we	we	PRON
dad-13359	398	18	analyzed	analyze	VERB
dad-13359	398	19	a	a	DET
dad-13359	398	20	count	count	NOUN
dad-13359	398	21	of	of	ADP
dad-13359	398	22	words	word	NOUN
dad-13359	398	23	expressing	express	VERB
dad-13359	398	24	uncertainty	uncertainty	NOUN
dad-13359	398	25	such	such	ADJ
dad-13359	398	26	as	as	ADP
dad-13359	398	27	“	"	PUNCT
dad-13359	398	28	may	may	AUX
dad-13359	398	29	”	"	PUNCT
dad-13359	398	30	and	and	CCONJ
dad-13359	398	31	“	"	PUNCT
dad-13359	398	32	might	might	AUX
dad-13359	398	33	”	"	PUNCT
dad-13359	398	34	.	.	PUNCT
dad-13359	399	1	the	the	DET
dad-13359	399	2	frequency	frequency	NOUN
dad-13359	399	3	of	of	ADP
dad-13359	399	4	such	such	ADJ
dad-13359	399	5	words	word	NOUN
dad-13359	399	6	reveals	reveal	VERB
dad-13359	399	7	that	that	SCONJ
dad-13359	399	8	the	the	DET
dad-13359	399	9	gpt-4	gpt-4	ADJ
dad-13359	399	10	model	model	NOUN
dad-13359	399	11	with	with	ADP
dad-13359	399	12	the	the	DET
dad-13359	399	13	verbalized	verbalize	VERB
dad-13359	399	14	graph	graph	NOUN
dad-13359	399	15	was	be	AUX
dad-13359	399	16	substantially	substantially	ADV
dad-13359	399	17	more	more	ADV
dad-13359	399	18	likely	likely	ADJ
dad-13359	399	19	to	to	PART
dad-13359	399	20	communicate	communicate	VERB
dad-13359	399	21	uncertainty	uncertainty	NOUN
dad-13359	399	22	to	to	ADP
dad-13359	399	23	the	the	DET
dad-13359	399	24	user	user	NOUN
dad-13359	399	25	,	,	PUNCT
dad-13359	399	26	as	as	SCONJ
dad-13359	399	27	shown	show	VERB
dad-13359	399	28	in	in	ADP
dad-13359	399	29	table	table	NOUN
dad-13359	399	30	4	4	NUM
dad-13359	399	31	.	.	PUNCT
dad-13359	399	32	model	model	NOUN
dad-13359	399	33	“	"	PUNCT
dad-13359	399	34	may	may	AUX
dad-13359	399	35	”	"	PUNCT
dad-13359	399	36	“	"	PUNCT
dad-13359	399	37	might	might	AUX
dad-13359	399	38	”	"	PUNCT
dad-13359	399	39	“	"	PUNCT
dad-13359	399	40	possibly	possibly	ADV
dad-13359	399	41	”	"	PUNCT
dad-13359	399	42	“	"	PUNCT
dad-13359	399	43	possible	possible	ADJ
dad-13359	399	44	”	"	PUNCT
dad-13359	399	45	total	total	ADJ
dad-13359	399	46	gpttriples	gpttriple	NOUN
dad-13359	399	47	4	4	NUM
dad-13359	399	48	0	0	NUM
dad-13359	399	49	2	2	NUM
dad-13359	399	50	0	0	NUM
dad-13359	399	51	6	6	NUM
dad-13359	399	52	gptverbal	gptverbal	ADJ
dad-13359	399	53	25	25	NUM
dad-13359	399	54	7	7	NUM
dad-13359	399	55	7	7	NUM
dad-13359	399	56	1	1	NUM
dad-13359	399	57	40	40	NUM
dad-13359	399	58	llamaverbal	llamaverbal	PROPN
dad-13359	399	59	7	7	NUM
dad-13359	399	60	0	0	NUM
dad-13359	399	61	0	0	NUM
dad-13359	399	62	1	1	NUM
dad-13359	399	63	8	8	NUM
dad-13359	399	64	table	table	NOUN
dad-13359	399	65	4	4	NUM
dad-13359	399	66	:	:	PUNCT
dad-13359	399	67	token	token	VERB
dad-13359	399	68	counts	count	NOUN
dad-13359	399	69	of	of	ADP
dad-13359	399	70	words	word	NOUN
dad-13359	399	71	expressing	express	VERB
dad-13359	399	72	uncertainty	uncertainty	NOUN
dad-13359	399	73	by	by	ADP
dad-13359	399	74	model	model	NOUN
dad-13359	399	75	.	.	PUNCT
dad-13359	400	1	upon	upon	SCONJ
dad-13359	400	2	inspecting	inspect	VERB
dad-13359	400	3	the	the	DET
dad-13359	400	4	dialogues	dialogue	NOUN
dad-13359	400	5	,	,	PUNCT
dad-13359	400	6	there	there	PRON
dad-13359	400	7	appear	appear	VERB
dad-13359	400	8	to	to	PART
dad-13359	400	9	have	have	AUX
dad-13359	400	10	been	be	AUX
dad-13359	400	11	no	no	DET
dad-13359	400	12	instances	instance	NOUN
dad-13359	400	13	where	where	SCONJ
dad-13359	400	14	the	the	DET
dad-13359	400	15	gpt	gpt	NOUN
dad-13359	400	16	-	-	PUNCT
dad-13359	400	17	verbal	verbal	ADJ
dad-13359	400	18	model	model	NOUN
dad-13359	400	19	expressed	express	VERB
dad-13359	400	20	uncertainty	uncertainty	NOUN
dad-13359	400	21	with	with	ADP
dad-13359	400	22	the	the	DET
dad-13359	400	23	word	word	NOUN
dad-13359	400	24	“	"	PUNCT
dad-13359	400	25	may	may	AUX
dad-13359	400	26	”	"	PUNCT
dad-13359	400	27	that	that	PRON
dad-13359	400	28	was	be	AUX
dad-13359	400	29	not	not	PART
dad-13359	400	30	justified	justify	VERB
dad-13359	400	31	by	by	ADP
dad-13359	400	32	the	the	DET
dad-13359	400	33	observation	observation	NOUN
dad-13359	400	34	descriptions	description	NOUN
dad-13359	400	35	.	.	PUNCT
dad-13359	401	1	by	by	ADP
dad-13359	401	2	constrast	constrast	NOUN
dad-13359	401	3	,	,	PUNCT
dad-13359	401	4	the	the	DET
dad-13359	401	5	gpt	gpt	NOUN
dad-13359	401	6	-	-	PUNCT
dad-13359	401	7	triples	triple	NOUN
dad-13359	401	8	model	model	NOUN
dad-13359	401	9	used	use	VERB
dad-13359	401	10	“	"	PUNCT
dad-13359	401	11	may	may	AUX
dad-13359	401	12	”	"	PUNCT
dad-13359	401	13	in	in	ADP
dad-13359	401	14	this	this	DET
dad-13359	401	15	way	way	NOUN
dad-13359	401	16	twice	twice	ADV
dad-13359	401	17	,	,	PUNCT
dad-13359	401	18	with	with	ADP
dad-13359	401	19	the	the	DET
dad-13359	401	20	remaining	remain	VERB
dad-13359	401	21	count	count	NOUN
dad-13359	401	22	arising	arise	VERB
dad-13359	401	23	from	from	ADP
dad-13359	401	24	utterances	utterance	NOUN
dad-13359	401	25	where	where	SCONJ
dad-13359	401	26	the	the	DET
dad-13359	401	27	model	model	NOUN
dad-13359	401	28	asks	ask	VERB
dad-13359	401	29	the	the	DET
dad-13359	401	30	user	user	NOUN
dad-13359	401	31	to	to	PART
dad-13359	401	32	note	note	VERB
dad-13359	401	33	that	that	SCONJ
dad-13359	401	34	the	the	DET
dad-13359	401	35	observations	observation	NOUN
dad-13359	401	36	may	may	AUX
dad-13359	401	37	not	not	PART
dad-13359	401	38	describe	describe	VERB
dad-13359	401	39	certain	certain	ADJ
dad-13359	401	40	aspects	aspect	NOUN
dad-13359	401	41	such	such	ADJ
dad-13359	401	42	as	as	ADP
dad-13359	401	43	order	order	NOUN
dad-13359	401	44	or	or	CCONJ
dad-13359	401	45	count	count	VERB
dad-13359	401	46	of	of	ADP
dad-13359	401	47	objects	object	NOUN
dad-13359	401	48	.	.	PUNCT
dad-13359	402	1	this	this	DET
dad-13359	402	2	tendency	tendency	NOUN
dad-13359	402	3	appears	appear	VERB
dad-13359	402	4	to	to	PART
dad-13359	402	5	demonstrate	demonstrate	VERB
dad-13359	402	6	that	that	SCONJ
dad-13359	402	7	while	while	SCONJ
dad-13359	402	8	probability	probability	NOUN
dad-13359	402	9	of	of	ADP
dad-13359	402	10	observations	observation	NOUN
dad-13359	402	11	was	be	AUX
dad-13359	402	12	presented	present	VERB
dad-13359	402	13	in	in	ADP
dad-13359	402	14	semantic	semantic	ADJ
dad-13359	402	15	triple	triple	ADJ
dad-13359	402	16	form	form	NOUN
dad-13359	402	17	,	,	PUNCT
dad-13359	402	18	the	the	DET
dad-13359	402	19	model	model	NOUN
dad-13359	402	20	made	make	VERB
dad-13359	402	21	significantly	significantly	ADV
dad-13359	402	22	more	more	ADJ
dad-13359	402	23	use	use	NOUN
dad-13359	402	24	of	of	ADP
dad-13359	402	25	uncertainty	uncertainty	NOUN
dad-13359	402	26	in	in	ADP
dad-13359	402	27	its	its	PRON
dad-13359	402	28	expression	expression	NOUN
dad-13359	402	29	when	when	SCONJ
dad-13359	402	30	uncertainty	uncertainty	NOUN
dad-13359	402	31	was	be	AUX
dad-13359	402	32	transformed	transform	VERB
dad-13359	402	33	to	to	ADP
dad-13359	402	34	natural	natural	ADJ
dad-13359	402	35	language	language	NOUN
dad-13359	402	36	.	.	PUNCT
dad-13359	403	1	78	78	NUM
dad-13359	403	2	a	a	DET
dad-13359	403	3	graph	graph	NOUN
dad-13359	403	4	-	-	PUNCT
dad-13359	403	5	to	to	ADP
dad-13359	403	6	-	-	PUNCT
dad-13359	403	7	text	text	NOUN
dad-13359	403	8	approach	approach	NOUN
dad-13359	403	9	to	to	ADP
dad-13359	403	10	knowledge	knowledge	NOUN
dad-13359	403	11	-	-	PUNCT
dad-13359	403	12	grounded	ground	VERB
dad-13359	403	13	response	response	NOUN
dad-13359	403	14	generation	generation	NOUN
dad-13359	403	15	in	in	ADP
dad-13359	403	16	hri	hri	PROPN
dad-13359	403	17	4.4.4	4.4.4	NUM
dad-13359	403	18	influence	influence	NOUN
dad-13359	403	19	of	of	ADP
dad-13359	403	20	model	model	NOUN
dad-13359	403	21	order	order	NOUN
dad-13359	403	22	we	we	PRON
dad-13359	403	23	analyzed	analyze	VERB
dad-13359	403	24	the	the	DET
dad-13359	403	25	effect	effect	NOUN
dad-13359	403	26	of	of	ADP
dad-13359	403	27	the	the	DET
dad-13359	403	28	model	model	NOUN
dad-13359	403	29	order	order	NOUN
dad-13359	403	30	on	on	ADP
dad-13359	403	31	user	user	NOUN
dad-13359	403	32	scores	score	NOUN
dad-13359	403	33	,	,	PUNCT
dad-13359	403	34	shown	show	VERB
dad-13359	403	35	in	in	ADP
dad-13359	403	36	table	table	NOUN
dad-13359	403	37	5	5	NUM
dad-13359	403	38	.	.	PUNCT
dad-13359	404	1	there	there	PRON
dad-13359	404	2	was	be	VERB
dad-13359	404	3	not	not	PART
dad-13359	404	4	a	a	DET
dad-13359	404	5	substantial	substantial	ADJ
dad-13359	404	6	effect	effect	NOUN
dad-13359	404	7	on	on	ADP
dad-13359	404	8	scores	score	NOUN
dad-13359	404	9	from	from	ADP
dad-13359	404	10	whether	whether	SCONJ
dad-13359	404	11	the	the	DET
dad-13359	404	12	model	model	NOUN
dad-13359	404	13	was	be	AUX
dad-13359	404	14	presented	present	VERB
dad-13359	404	15	first	first	ADV
dad-13359	404	16	or	or	CCONJ
dad-13359	404	17	last	last	ADJ
dad-13359	404	18	to	to	ADP
dad-13359	404	19	the	the	DET
dad-13359	404	20	user	user	NOUN
dad-13359	404	21	.	.	PUNCT
dad-13359	405	1	to	to	PART
dad-13359	405	2	analyze	analyze	VERB
dad-13359	405	3	the	the	DET
dad-13359	405	4	interaction	interaction	NOUN
dad-13359	405	5	of	of	ADP
dad-13359	405	6	model	model	NOUN
dad-13359	405	7	types	type	NOUN
dad-13359	405	8	with	with	ADP
dad-13359	405	9	order	order	NOUN
dad-13359	405	10	,	,	PUNCT
dad-13359	405	11	we	we	PRON
dad-13359	405	12	fit	fit	VERB
dad-13359	405	13	a	a	DET
dad-13359	405	14	bayesian	bayesian	NOUN
dad-13359	405	15	linear	linear	ADJ
dad-13359	405	16	mixed	mixed	ADJ
dad-13359	405	17	model	model	NOUN
dad-13359	405	18	using	use	VERB
dad-13359	405	19	the	the	DET
dad-13359	405	20	bambi5	bambi5	PROPN
dad-13359	405	21	library	library	NOUN
dad-13359	405	22	.	.	PUNCT
dad-13359	406	1	we	we	PRON
dad-13359	406	2	treat	treat	VERB
dad-13359	406	3	model	model	NOUN
dad-13359	406	4	order	order	NOUN
dad-13359	406	5	as	as	ADP
dad-13359	406	6	a	a	DET
dad-13359	406	7	fixed	fixed	ADJ
dad-13359	406	8	effect	effect	NOUN
dad-13359	406	9	with	with	ADP
dad-13359	406	10	individual	individual	ADJ
dad-13359	406	11	participant	participant	ADJ
dad-13359	406	12	variability	variability	NOUN
dad-13359	406	13	as	as	ADP
dad-13359	406	14	a	a	DET
dad-13359	406	15	random	random	ADJ
dad-13359	406	16	effect	effect	NOUN
dad-13359	406	17	,	,	PUNCT
dad-13359	406	18	as	as	SCONJ
dad-13359	406	19	score	score	NOUN
dad-13359	406	20	∼	∼	NOUN
dad-13359	406	21	model	model	NOUN
dad-13359	406	22	∗	∗	NOUN
dad-13359	406	23	order	order	NOUN
dad-13359	406	24	+	+	CCONJ
dad-13359	406	25	(	(	PUNCT
dad-13359	406	26	1|user	1|user	NUM
dad-13359	406	27	)	)	PUNCT
dad-13359	406	28	.	.	PUNCT
dad-13359	407	1	the	the	DET
dad-13359	407	2	results	result	NOUN
dad-13359	407	3	indicated	indicate	VERB
dad-13359	407	4	that	that	SCONJ
dad-13359	407	5	order	order	NOUN
dad-13359	407	6	had	have	VERB
dad-13359	407	7	minimal	minimal	ADJ
dad-13359	407	8	impact	impact	NOUN
dad-13359	407	9	on	on	ADP
dad-13359	407	10	scores	score	NOUN
dad-13359	407	11	,	,	PUNCT
dad-13359	407	12	with	with	ADP
dad-13359	407	13	(	(	PUNCT
dad-13359	407	14	β	β	X
dad-13359	407	15	=	=	SYM
dad-13359	407	16	−0.10	−0.10	NOUN
dad-13359	407	17	,	,	PUNCT
dad-13359	407	18	sd	sd	ADP
dad-13359	407	19	=	=	SYM
dad-13359	407	20	0.29	0.29	NUM
dad-13359	407	21	,	,	PUNCT
dad-13359	407	22	94	94	NUM
dad-13359	407	23	%	%	NOUN
dad-13359	407	24	hdi	hdi	NOUN
dad-13359	407	25	:	:	PUNCT
dad-13359	408	1	[	[	X
dad-13359	408	2	−0.64	−0.64	X
dad-13359	408	3	,	,	PUNCT
dad-13359	408	4	0.4	0.4	NUM
dad-13359	408	5	]	]	PUNCT
dad-13359	408	6	)	)	PUNCT
dad-13359	408	7	for	for	ADP
dad-13359	408	8	factuality	factuality	NOUN
dad-13359	408	9	and	and	CCONJ
dad-13359	408	10	(	(	PUNCT
dad-13359	408	11	β	β	X
dad-13359	408	12	=	=	SYM
dad-13359	408	13	−0.011	−0.011	NOUN
dad-13359	408	14	,	,	PUNCT
dad-13359	408	15	sd	sd	ADP
dad-13359	408	16	=	=	SYM
dad-13359	408	17	0.247	0.247	NUM
dad-13359	408	18	,	,	PUNCT
dad-13359	408	19	94	94	NUM
dad-13359	408	20	%	%	NOUN
dad-13359	408	21	hdi	hdi	NOUN
dad-13359	408	22	:	:	PUNCT
dad-13359	409	1	[	[	X
dad-13359	409	2	−0.467	−0.467	X
dad-13359	409	3	,	,	PUNCT
dad-13359	409	4	0.459	0.459	NOUN
dad-13359	409	5	]	]	PUNCT
dad-13359	409	6	)	)	PUNCT
dad-13359	409	7	for	for	ADP
dad-13359	409	8	adequacy	adequacy	NOUN
dad-13359	409	9	.	.	PUNCT
dad-13359	410	1	model	model	NOUN
dad-13359	410	2	factuality	factuality	NOUN
dad-13359	410	3	(	(	PUNCT
dad-13359	410	4	first	first	ADJ
dad-13359	410	5	)	)	PUNCT
dad-13359	410	6	factuality	factuality	NOUN
dad-13359	410	7	(	(	PUNCT
dad-13359	410	8	last	last	ADJ
dad-13359	410	9	)	)	PUNCT
dad-13359	410	10	adequacy	adequacy	NOUN
dad-13359	410	11	(	(	PUNCT
dad-13359	410	12	first	first	ADJ
dad-13359	410	13	)	)	PUNCT
dad-13359	410	14	adequacy	adequacy	NOUN
dad-13359	410	15	(	(	PUNCT
dad-13359	410	16	last	last	ADJ
dad-13359	410	17	)	)	PUNCT
dad-13359	410	18	gpttriples	gpttriple	VERB
dad-13359	410	19	3.5	3.5	NUM
dad-13359	410	20	3.5	3.5	NUM
dad-13359	410	21	3.83	3.83	NUM
dad-13359	410	22	3.67	3.67	NUM
dad-13359	410	23	gptverbal	gptverbal	ADJ
dad-13359	410	24	4.4	4.4	NUM
dad-13359	410	25	4	4	NUM
dad-13359	410	26	3.8	3.8	NUM
dad-13359	410	27	3.75	3.75	NUM
dad-13359	410	28	llamaverbal	llamaverbal	NUM
dad-13359	410	29	3.71	3.71	NUM
dad-13359	410	30	3.86	3.86	NUM
dad-13359	410	31	3.86	3.86	NUM
dad-13359	410	32	3.71	3.71	NUM
dad-13359	410	33	table	table	NOUN
dad-13359	410	34	5	5	NUM
dad-13359	410	35	:	:	PUNCT
dad-13359	410	36	average	average	ADJ
dad-13359	410	37	participant	participant	NOUN
dad-13359	410	38	scores	score	NOUN
dad-13359	410	39	for	for	ADP
dad-13359	410	40	model	model	NOUN
dad-13359	410	41	factuality	factuality	NOUN
dad-13359	410	42	and	and	CCONJ
dad-13359	410	43	conversational	conversational	ADJ
dad-13359	410	44	adequacy	adequacy	NOUN
dad-13359	410	45	when	when	SCONJ
dad-13359	410	46	presented	present	VERB
dad-13359	410	47	to	to	ADP
dad-13359	410	48	the	the	DET
dad-13359	410	49	user	user	NOUN
dad-13359	410	50	first	first	ADV
dad-13359	410	51	and	and	CCONJ
dad-13359	410	52	last	last	ADJ
dad-13359	410	53	.	.	PUNCT
dad-13359	411	1	4.4.5	4.4.5	NUM
dad-13359	411	2	outliers	outlier	NOUN
dad-13359	411	3	as	as	SCONJ
dad-13359	411	4	shown	show	VERB
dad-13359	411	5	in	in	ADP
dad-13359	411	6	the	the	DET
dad-13359	411	7	box	box	NOUN
dad-13359	411	8	plot	plot	NOUN
dad-13359	411	9	of	of	ADP
dad-13359	411	10	figure	figure	NOUN
dad-13359	411	11	7	7	NUM
dad-13359	411	12	,	,	PUNCT
dad-13359	411	13	the	the	DET
dad-13359	411	14	llama	llama	PROPN
dad-13359	411	15	model	model	NOUN
dad-13359	411	16	had	have	VERB
dad-13359	411	17	the	the	DET
dad-13359	411	18	widest	wide	ADJ
dad-13359	411	19	range	range	NOUN
dad-13359	411	20	in	in	ADP
dad-13359	411	21	scores	score	NOUN
dad-13359	411	22	,	,	PUNCT
dad-13359	411	23	being	be	AUX
dad-13359	411	24	the	the	DET
dad-13359	411	25	only	only	ADJ
dad-13359	411	26	model	model	NOUN
dad-13359	411	27	to	to	PART
dad-13359	411	28	receive	receive	VERB
dad-13359	411	29	scores	score	NOUN
dad-13359	411	30	of	of	ADP
dad-13359	411	31	“	"	PUNCT
dad-13359	411	32	1	1	NUM
dad-13359	411	33	”	"	PUNCT
dad-13359	411	34	to	to	ADP
dad-13359	411	35	either	either	DET
dad-13359	411	36	statement	statement	NOUN
dad-13359	411	37	.	.	PUNCT
dad-13359	412	1	this	this	DET
dad-13359	412	2	score	score	NOUN
dad-13359	412	3	was	be	AUX
dad-13359	412	4	recorded	record	VERB
dad-13359	412	5	in	in	ADP
dad-13359	412	6	two	two	NUM
dad-13359	412	7	dialogues	dialogue	NOUN
dad-13359	412	8	.	.	PUNCT
dad-13359	413	1	in	in	ADP
dad-13359	413	2	one	one	NUM
dad-13359	413	3	case	case	NOUN
dad-13359	413	4	,	,	PUNCT
dad-13359	413	5	the	the	DET
dad-13359	413	6	model	model	NOUN
dad-13359	413	7	frequently	frequently	ADV
dad-13359	413	8	answered	answer	VERB
dad-13359	413	9	that	that	SCONJ
dad-13359	413	10	it	it	PRON
dad-13359	413	11	had	have	AUX
dad-13359	413	12	not	not	PART
dad-13359	413	13	seen	see	VERB
dad-13359	413	14	things	thing	NOUN
dad-13359	413	15	in	in	ADP
dad-13359	413	16	the	the	DET
dad-13359	413	17	tour	tour	NOUN
dad-13359	413	18	after	after	ADP
dad-13359	413	19	having	having	AUX
dad-13359	413	20	enumerated	enumerate	VERB
dad-13359	413	21	them	they	PRON
dad-13359	413	22	in	in	ADP
dad-13359	413	23	an	an	DET
dad-13359	413	24	initial	initial	ADJ
dad-13359	413	25	summary	summary	NOUN
dad-13359	413	26	and	and	CCONJ
dad-13359	413	27	demonstrated	demonstrate	VERB
dad-13359	413	28	an	an	DET
dad-13359	413	29	unexpected	unexpected	ADJ
dad-13359	413	30	inability	inability	NOUN
dad-13359	413	31	to	to	PART
dad-13359	413	32	recall	recall	VERB
dad-13359	413	33	facts	fact	NOUN
dad-13359	413	34	.	.	PUNCT
dad-13359	414	1	this	this	DET
dad-13359	414	2	first	first	ADJ
dad-13359	414	3	dialogue	dialogue	NOUN
dad-13359	414	4	is	be	AUX
dad-13359	414	5	as	as	SCONJ
dad-13359	414	6	follows	follow	VERB
dad-13359	414	7	and	and	CCONJ
dad-13359	414	8	received	receive	VERB
dad-13359	414	9	a	a	DET
dad-13359	414	10	score	score	NOUN
dad-13359	414	11	of	of	ADP
dad-13359	414	12	2	2	NUM
dad-13359	414	13	for	for	ADP
dad-13359	414	14	statement	statement	NOUN
dad-13359	414	15	2	2	NUM
dad-13359	414	16	:	:	PUNCT
dad-13359	414	17	user	user	NOUN
dad-13359	414	18	:	:	PUNCT
dad-13359	414	19	which	which	DET
dad-13359	414	20	room	room	NOUN
dad-13359	414	21	did	do	AUX
dad-13359	414	22	we	we	PRON
dad-13359	414	23	spend	spend	VERB
dad-13359	414	24	the	the	DET
dad-13359	414	25	most	most	ADJ
dad-13359	414	26	time	time	NOUN
dad-13359	414	27	in	in	ADP
dad-13359	414	28	robot	robot	NOUN
dad-13359	414	29	:	:	PUNCT
dad-13359	414	30	based	base	VERB
dad-13359	414	31	on	on	ADP
dad-13359	414	32	the	the	DET
dad-13359	414	33	observations	observation	NOUN
dad-13359	414	34	,	,	PUNCT
dad-13359	414	35	we	we	PRON
dad-13359	414	36	spent	spend	VERB
dad-13359	414	37	the	the	DET
dad-13359	414	38	most	most	ADJ
dad-13359	414	39	time	time	NOUN
dad-13359	414	40	in	in	ADP
dad-13359	414	41	the	the	DET
dad-13359	414	42	”	"	PUNCT
dad-13359	414	43	sick	sick	ADJ
dad-13359	414	44	room	room	NOUN
dad-13359	414	45	”	"	PUNCT
dad-13359	414	46	(	(	PUNCT
dad-13359	414	47	205	205	NUM
dad-13359	414	48	seconds	second	NOUN
dad-13359	414	49	)	)	PUNCT
dad-13359	414	50	.	.	PUNCT
dad-13359	415	1	user	user	NOUN
dad-13359	415	2	:	:	PUNCT
dad-13359	415	3	what	what	PRON
dad-13359	415	4	was	be	AUX
dad-13359	415	5	the	the	DET
dad-13359	415	6	room	room	NOUN
dad-13359	415	7	we	we	PRON
dad-13359	415	8	went	go	VERB
dad-13359	415	9	to	to	ADP
dad-13359	415	10	after	after	ADP
dad-13359	415	11	the	the	DET
dad-13359	415	12	glass	glass	NOUN
dad-13359	415	13	hallway	hallway	NOUN
dad-13359	415	14	robot	robot	NOUN
dad-13359	415	15	:	:	PUNCT
dad-13359	415	16	based	base	VERB
dad-13359	415	17	on	on	ADP
dad-13359	415	18	the	the	DET
dad-13359	415	19	observations	observation	NOUN
dad-13359	415	20	,	,	PUNCT
dad-13359	415	21	after	after	ADP
dad-13359	415	22	the	the	DET
dad-13359	415	23	glass	glass	NOUN
dad-13359	415	24	hallway	hallway	NOUN
dad-13359	415	25	,	,	PUNCT
dad-13359	415	26	we	we	PRON
dad-13359	415	27	went	go	VERB
dad-13359	415	28	to	to	ADP
dad-13359	415	29	the	the	DET
dad-13359	415	30	”	"	PUNCT
dad-13359	415	31	printer	printer	NOUN
dad-13359	415	32	area	area	NOUN
dad-13359	415	33	”	"	PUNCT
dad-13359	415	34	(	(	PUNCT
dad-13359	415	35	32	32	NUM
dad-13359	415	36	seconds	second	NOUN
dad-13359	415	37	)	)	PUNCT
dad-13359	415	38	.	.	PUNCT
dad-13359	416	1	user	user	NOUN
dad-13359	416	2	:	:	PUNCT
dad-13359	416	3	do	do	AUX
dad-13359	416	4	you	you	PRON
dad-13359	416	5	see	see	VERB
dad-13359	416	6	any	any	DET
dad-13359	416	7	useful	useful	ADJ
dad-13359	416	8	equipment	equipment	NOUN
dad-13359	416	9	for	for	ADP
dad-13359	416	10	extinguishing	extinguish	VERB
dad-13359	416	11	a	a	DET
dad-13359	416	12	fire	fire	NOUN
dad-13359	416	13	anywhere	anywhere	ADP
dad-13359	416	14	robot	robot	NOUN
dad-13359	416	15	:	:	PUNCT
dad-13359	417	1	no	no	INTJ
dad-13359	417	2	,	,	PUNCT
dad-13359	417	3	i	i	PRON
dad-13359	417	4	do	do	AUX
dad-13359	417	5	not	not	PART
dad-13359	417	6	see	see	VERB
dad-13359	417	7	any	any	DET
dad-13359	417	8	useful	useful	ADJ
dad-13359	417	9	equipment	equipment	NOUN
dad-13359	417	10	for	for	ADP
dad-13359	417	11	extinguishing	extinguish	VERB
dad-13359	417	12	a	a	DET
dad-13359	417	13	fire	fire	NOUN
dad-13359	417	14	anywhere	anywhere	ADV
dad-13359	417	15	in	in	ADP
dad-13359	417	16	the	the	DET
dad-13359	417	17	observations	observation	NOUN
dad-13359	417	18	.	.	PUNCT
dad-13359	418	1	user	user	NOUN
dad-13359	418	2	:	:	PUNCT
dad-13359	418	3	were	be	AUX
dad-13359	418	4	there	there	PRON
dad-13359	418	5	any	any	DET
dad-13359	418	6	chairs	chair	NOUN
dad-13359	418	7	in	in	ADP
dad-13359	418	8	the	the	DET
dad-13359	418	9	glass	glass	NOUN
dad-13359	418	10	hallway	hallway	NOUN
dad-13359	418	11	robot	robot	NOUN
dad-13359	418	12	:	:	PUNCT
dad-13359	419	1	no	no	INTJ
dad-13359	419	2	,	,	PUNCT
dad-13359	419	3	i	i	PRON
dad-13359	419	4	did	do	AUX
dad-13359	419	5	not	not	PART
dad-13359	419	6	see	see	VERB
dad-13359	419	7	any	any	DET
dad-13359	419	8	chairs	chair	NOUN
dad-13359	419	9	in	in	ADP
dad-13359	419	10	the	the	DET
dad-13359	419	11	glass	glass	NOUN
dad-13359	419	12	hallway	hallway	NOUN
dad-13359	419	13	.	.	PUNCT
dad-13359	420	1	user	user	NOUN
dad-13359	420	2	:	:	PUNCT
dad-13359	420	3	were	be	AUX
dad-13359	420	4	there	there	PRON
dad-13359	420	5	any	any	DET
dad-13359	420	6	people	people	NOUN
dad-13359	420	7	working	work	VERB
dad-13359	420	8	in	in	ADP
dad-13359	420	9	the	the	DET
dad-13359	420	10	office	office	NOUN
dad-13359	420	11	robot	robot	NOUN
dad-13359	420	12	:	:	PUNCT
dad-13359	421	1	yes	yes	INTJ
dad-13359	421	2	,	,	PUNCT
dad-13359	421	3	i	i	PRON
dad-13359	421	4	saw	see	VERB
dad-13359	421	5	a	a	DET
dad-13359	421	6	person	person	NOUN
dad-13359	421	7	working	work	VERB
dad-13359	421	8	in	in	ADP
dad-13359	421	9	the	the	DET
dad-13359	421	10	office	office	NOUN
dad-13359	421	11	.	.	PUNCT
dad-13359	422	1	user	user	NOUN
dad-13359	422	2	:	:	PUNCT
dad-13359	422	3	what	what	PRON
dad-13359	422	4	furniture	furniture	NOUN
dad-13359	422	5	store	store	NOUN
dad-13359	422	6	in	in	ADP
dad-13359	422	7	the	the	DET
dad-13359	422	8	sick	sick	ADJ
dad-13359	422	9	room	room	NOUN
dad-13359	422	10	robot	robot	NOUN
dad-13359	422	11	:	:	PUNCT
dad-13359	422	12	there	there	PRON
dad-13359	422	13	was	be	VERB
dad-13359	422	14	no	no	DET
dad-13359	422	15	furniture	furniture	NOUN
dad-13359	422	16	store	store	NOUN
dad-13359	422	17	in	in	ADP
dad-13359	422	18	the	the	DET
dad-13359	422	19	sick	sick	ADJ
dad-13359	422	20	room	room	NOUN
dad-13359	422	21	.	.	PUNCT
dad-13359	423	1	5	5	NUM
dad-13359	423	2	.	.	NUM
dad-13359	423	3	https://bambinos.github.io/bambi/	https://bambinos.github.io/bambi/	VERB
dad-13359	423	4	79	79	NUM
dad-13359	423	5	walker	walker	NOUN
dad-13359	423	6	,	,	PUNCT
dad-13359	423	7	ultes	ulte	NOUN
dad-13359	423	8	and	and	CCONJ
dad-13359	423	9	lison	lison	NOUN
dad-13359	423	10	while	while	SCONJ
dad-13359	423	11	the	the	DET
dad-13359	423	12	first	first	ADJ
dad-13359	423	13	two	two	NUM
dad-13359	423	14	observations	observation	NOUN
dad-13359	423	15	were	be	AUX
dad-13359	423	16	correct	correct	ADJ
dad-13359	423	17	according	accord	VERB
dad-13359	423	18	to	to	ADP
dad-13359	423	19	the	the	DET
dad-13359	423	20	recorded	record	VERB
dad-13359	423	21	time	time	NOUN
dad-13359	423	22	,	,	PUNCT
dad-13359	423	23	the	the	DET
dad-13359	423	24	model	model	NOUN
dad-13359	423	25	was	be	AUX
dad-13359	423	26	unable	unable	ADJ
dad-13359	423	27	to	to	PART
dad-13359	423	28	provide	provide	VERB
dad-13359	423	29	facts	fact	NOUN
dad-13359	423	30	about	about	ADP
dad-13359	423	31	the	the	DET
dad-13359	423	32	detected	detect	VERB
dad-13359	423	33	entities	entity	NOUN
dad-13359	423	34	,	,	PUNCT
dad-13359	423	35	namely	namely	ADV
dad-13359	423	36	a	a	DET
dad-13359	423	37	fire	fire	NOUN
dad-13359	423	38	extinguisher	extinguisher	NOUN
dad-13359	423	39	and	and	CCONJ
dad-13359	423	40	a	a	DET
dad-13359	423	41	chair	chair	NOUN
dad-13359	423	42	in	in	ADP
dad-13359	423	43	the	the	DET
dad-13359	423	44	hallway	hallway	NOUN
dad-13359	423	45	,	,	PUNCT
dad-13359	423	46	furniture	furniture	NOUN
dad-13359	423	47	in	in	ADP
dad-13359	423	48	the	the	DET
dad-13359	423	49	sick	sick	ADJ
dad-13359	423	50	room	room	NOUN
dad-13359	423	51	(	(	PUNCT
dad-13359	423	52	chair	chair	NOUN
dad-13359	423	53	,	,	PUNCT
dad-13359	423	54	sofa	sofa	NOUN
dad-13359	423	55	)	)	PUNCT
dad-13359	423	56	and	and	CCONJ
dad-13359	423	57	the	the	DET
dad-13359	423	58	absence	absence	NOUN
dad-13359	423	59	of	of	ADP
dad-13359	423	60	people	people	NOUN
dad-13359	423	61	in	in	ADP
dad-13359	423	62	the	the	DET
dad-13359	423	63	office	office	NOUN
dad-13359	423	64	.	.	PUNCT
dad-13359	424	1	in	in	ADP
dad-13359	424	2	the	the	DET
dad-13359	424	3	second	second	ADJ
dad-13359	424	4	case	case	NOUN
dad-13359	424	5	,	,	PUNCT
dad-13359	424	6	the	the	DET
dad-13359	424	7	model	model	NOUN
dad-13359	424	8	failed	fail	VERB
dad-13359	424	9	to	to	PART
dad-13359	424	10	describe	describe	VERB
dad-13359	424	11	detected	detect	VERB
dad-13359	424	12	objects	object	NOUN
dad-13359	424	13	from	from	ADP
dad-13359	424	14	the	the	DET
dad-13359	424	15	tour	tour	NOUN
dad-13359	424	16	and	and	CCONJ
dad-13359	424	17	was	be	AUX
dad-13359	424	18	given	give	VERB
dad-13359	424	19	a	a	DET
dad-13359	424	20	score	score	NOUN
dad-13359	424	21	of	of	ADP
dad-13359	424	22	1	1	NUM
dad-13359	424	23	for	for	ADP
dad-13359	424	24	both	both	DET
dad-13359	424	25	statements	statement	NOUN
dad-13359	424	26	.	.	PUNCT
dad-13359	425	1	however	however	ADV
dad-13359	425	2	,	,	PUNCT
dad-13359	425	3	all	all	DET
dad-13359	425	4	model	model	NOUN
dad-13359	425	5	scores	score	NOUN
dad-13359	425	6	given	give	VERB
dad-13359	425	7	by	by	ADP
dad-13359	425	8	the	the	DET
dad-13359	425	9	participant	participant	NOUN
dad-13359	425	10	were	be	AUX
dad-13359	425	11	quite	quite	ADV
dad-13359	425	12	low	low	ADJ
dad-13359	425	13	.	.	PUNCT
dad-13359	426	1	this	this	DET
dad-13359	426	2	participant	participant	NOUN
dad-13359	426	3	appeared	appear	VERB
dad-13359	426	4	to	to	PART
dad-13359	426	5	take	take	VERB
dad-13359	426	6	a	a	DET
dad-13359	426	7	much	much	ADV
dad-13359	426	8	stricter	strict	ADJ
dad-13359	426	9	approach	approach	NOUN
dad-13359	426	10	to	to	ADP
dad-13359	426	11	interpretation	interpretation	NOUN
dad-13359	426	12	of	of	ADP
dad-13359	426	13	the	the	DET
dad-13359	426	14	statements	statement	NOUN
dad-13359	426	15	in	in	ADP
dad-13359	426	16	evaluating	evaluate	VERB
dad-13359	426	17	all	all	DET
dad-13359	426	18	models	model	NOUN
dad-13359	426	19	.	.	PUNCT
dad-13359	427	1	the	the	DET
dad-13359	427	2	model	model	NOUN
dad-13359	427	3	was	be	AUX
dad-13359	427	4	nonetheless	nonetheless	ADV
dad-13359	427	5	weak	weak	ADJ
dad-13359	427	6	in	in	ADP
dad-13359	427	7	recalling	recall	VERB
dad-13359	427	8	detected	detect	VERB
dad-13359	427	9	objects	object	NOUN
dad-13359	427	10	in	in	ADP
dad-13359	427	11	this	this	DET
dad-13359	427	12	dialogue	dialogue	NOUN
dad-13359	427	13	.	.	PUNCT
dad-13359	428	1	an	an	DET
dad-13359	428	2	excerpt	excerpt	NOUN
dad-13359	428	3	from	from	ADP
dad-13359	428	4	this	this	DET
dad-13359	428	5	dialogue	dialogue	NOUN
dad-13359	428	6	is	be	AUX
dad-13359	428	7	as	as	SCONJ
dad-13359	428	8	follows	follow	VERB
dad-13359	428	9	:	:	PUNCT
dad-13359	428	10	user	user	NOUN
dad-13359	428	11	:	:	PUNCT
dad-13359	428	12	where	where	SCONJ
dad-13359	428	13	did	do	AUX
dad-13359	428	14	we	we	PRON
dad-13359	428	15	go	go	VERB
dad-13359	428	16	first	first	ADJ
dad-13359	428	17	robot	robot	NOUN
dad-13359	428	18	:	:	PUNCT
dad-13359	428	19	we	we	PRON
dad-13359	428	20	first	first	ADV
dad-13359	428	21	went	go	VERB
dad-13359	428	22	to	to	ADP
dad-13359	428	23	the	the	DET
dad-13359	428	24	main	main	ADJ
dad-13359	428	25	hallway	hallway	NOUN
dad-13359	428	26	.	.	PUNCT
dad-13359	429	1	user	user	NOUN
dad-13359	429	2	:	:	PUNCT
dad-13359	429	3	and	and	CCONJ
dad-13359	429	4	after	after	ADP
dad-13359	429	5	that	that	DET
dad-13359	429	6	robot	robot	NOUN
dad-13359	429	7	:	:	PUNCT
dad-13359	429	8	after	after	ADP
dad-13359	429	9	the	the	DET
dad-13359	429	10	main	main	ADJ
dad-13359	429	11	hallway	hallway	NOUN
dad-13359	429	12	,	,	PUNCT
dad-13359	429	13	we	we	PRON
dad-13359	429	14	went	go	VERB
dad-13359	429	15	to	to	ADP
dad-13359	429	16	the	the	DET
dad-13359	429	17	print	print	NOUN
dad-13359	429	18	room	room	NOUN
dad-13359	429	19	.	.	PUNCT
dad-13359	430	1	user	user	NOUN
dad-13359	430	2	:	:	PUNCT
dad-13359	430	3	did	do	AUX
dad-13359	430	4	you	you	PRON
dad-13359	430	5	see	see	VERB
dad-13359	430	6	any	any	DET
dad-13359	430	7	plants	plant	NOUN
dad-13359	430	8	robot	robot	NOUN
dad-13359	430	9	:	:	PUNCT
dad-13359	431	1	no	no	INTJ
dad-13359	431	2	,	,	PUNCT
dad-13359	431	3	i	i	PRON
dad-13359	431	4	did	do	AUX
dad-13359	431	5	not	not	PART
dad-13359	431	6	see	see	VERB
dad-13359	431	7	any	any	DET
dad-13359	431	8	plants	plant	NOUN
dad-13359	431	9	during	during	ADP
dad-13359	431	10	my	my	PRON
dad-13359	431	11	tour	tour	NOUN
dad-13359	431	12	of	of	ADP
dad-13359	431	13	the	the	DET
dad-13359	431	14	office	office	NOUN
dad-13359	431	15	floor	floor	NOUN
dad-13359	431	16	.	.	PUNCT
dad-13359	432	1	user	user	NOUN
dad-13359	432	2	:	:	PUNCT
dad-13359	432	3	that	that	PRON
dad-13359	432	4	’s	’	VERB
dad-13359	432	5	not	not	PART
dad-13359	432	6	true	true	ADJ
dad-13359	432	7	robot	robot	NOUN
dad-13359	432	8	:	:	PUNCT
dad-13359	432	9	i	i	PRON
dad-13359	432	10	apologize	apologize	VERB
dad-13359	432	11	,	,	PUNCT
dad-13359	432	12	you	you	PRON
dad-13359	432	13	are	be	AUX
dad-13359	432	14	correct	correct	ADJ
dad-13359	432	15	.	.	PUNCT
dad-13359	433	1	i	i	PRON
dad-13359	433	2	did	do	AUX
dad-13359	433	3	see	see	VERB
dad-13359	433	4	a	a	DET
dad-13359	433	5	bookshelf	bookshelf	NOUN
dad-13359	433	6	in	in	ADP
dad-13359	433	7	the	the	DET
dad-13359	433	8	first	first	ADJ
dad-13359	433	9	office	office	NOUN
dad-13359	433	10	i	i	PRON
dad-13359	433	11	visited	visit	VERB
dad-13359	433	12	,	,	PUNCT
dad-13359	433	13	but	but	CCONJ
dad-13359	433	14	i	i	PRON
dad-13359	433	15	did	do	AUX
dad-13359	433	16	not	not	PART
dad-13359	433	17	see	see	VERB
dad-13359	433	18	any	any	DET
dad-13359	433	19	plants	plant	NOUN
dad-13359	433	20	.	.	PUNCT
dad-13359	434	1	overall	overall	ADV
dad-13359	434	2	,	,	PUNCT
dad-13359	434	3	the	the	DET
dad-13359	434	4	llama	llama	PROPN
dad-13359	434	5	model	model	NOUN
dad-13359	434	6	also	also	ADV
dad-13359	434	7	demonstrated	demonstrate	VERB
dad-13359	434	8	a	a	DET
dad-13359	434	9	propensity	propensity	NOUN
dad-13359	434	10	to	to	PART
dad-13359	434	11	answer	answer	VERB
dad-13359	434	12	particularly	particularly	ADV
dad-13359	434	13	short	short	ADJ
dad-13359	434	14	introductory	introductory	ADJ
dad-13359	434	15	greetings	greeting	NOUN
dad-13359	434	16	with	with	ADP
dad-13359	434	17	a	a	DET
dad-13359	434	18	list	list	NOUN
dad-13359	434	19	of	of	ADP
dad-13359	434	20	answers	answer	NOUN
dad-13359	434	21	to	to	ADP
dad-13359	434	22	the	the	DET
dad-13359	434	23	example	example	NOUN
dad-13359	434	24	questions	question	NOUN
dad-13359	434	25	provided	provide	VERB
dad-13359	434	26	in	in	ADP
dad-13359	434	27	the	the	DET
dad-13359	434	28	prompt	prompt	NOUN
dad-13359	434	29	,	,	PUNCT
dad-13359	434	30	a	a	DET
dad-13359	434	31	factor	factor	NOUN
dad-13359	434	32	which	which	PRON
dad-13359	434	33	may	may	AUX
dad-13359	434	34	have	have	AUX
dad-13359	434	35	influenced	influence	VERB
dad-13359	434	36	the	the	DET
dad-13359	434	37	scores	score	NOUN
dad-13359	434	38	.	.	PUNCT
dad-13359	435	1	4.5	4.5	NUM
dad-13359	435	2	dialogue	dialogue	NOUN
dad-13359	435	3	examples	example	NOUN
dad-13359	435	4	dialogues	dialogue	NOUN
dad-13359	435	5	1	1	NUM
dad-13359	435	6	and	and	CCONJ
dad-13359	435	7	2	2	NUM
dad-13359	435	8	provide	provide	VERB
dad-13359	435	9	two	two	NUM
dad-13359	435	10	additional	additional	ADJ
dad-13359	435	11	examples	example	NOUN
dad-13359	435	12	of	of	ADP
dad-13359	435	13	interactions	interaction	NOUN
dad-13359	435	14	,	,	PUNCT
dad-13359	435	15	respectively	respectively	ADV
dad-13359	435	16	based	base	VERB
dad-13359	435	17	on	on	ADP
dad-13359	435	18	the	the	DET
dad-13359	435	19	gpt-4	gpt-4	ADJ
dad-13359	435	20	model	model	NOUN
dad-13359	435	21	relying	rely	VERB
dad-13359	435	22	on	on	ADP
dad-13359	435	23	semantic	semantic	ADJ
dad-13359	435	24	triples	triple	NOUN
dad-13359	435	25	and	and	CCONJ
dad-13359	435	26	the	the	DET
dad-13359	435	27	gpt-4	gpt-4	ADJ
dad-13359	435	28	model	model	NOUN
dad-13359	435	29	using	use	VERB
dad-13359	435	30	the	the	DET
dad-13359	435	31	verbalized	verbalize	VERB
dad-13359	435	32	graph	graph	NOUN
dad-13359	435	33	.	.	PUNCT
dad-13359	436	1	as	as	SCONJ
dad-13359	436	2	illustrated	illustrate	VERB
dad-13359	436	3	in	in	ADP
dad-13359	436	4	dialogue	dialogue	NOUN
dad-13359	436	5	1	1	NUM
dad-13359	436	6	,	,	PUNCT
dad-13359	436	7	one	one	NUM
dad-13359	436	8	peculiarity	peculiarity	NOUN
dad-13359	436	9	of	of	ADP
dad-13359	436	10	the	the	DET
dad-13359	436	11	responses	response	NOUN
dad-13359	436	12	based	base	VERB
dad-13359	436	13	on	on	ADP
dad-13359	436	14	semantic	semantic	ADJ
dad-13359	436	15	triples	triple	NOUN
dad-13359	436	16	was	be	AUX
dad-13359	436	17	the	the	DET
dad-13359	436	18	difficulty	difficulty	NOUN
dad-13359	436	19	of	of	ADP
dad-13359	436	20	providing	provide	VERB
dad-13359	436	21	information	information	NOUN
dad-13359	436	22	about	about	ADP
dad-13359	436	23	seen	see	VERB
dad-13359	436	24	objects	object	NOUN
dad-13359	436	25	in	in	ADP
dad-13359	436	26	an	an	DET
dad-13359	436	27	area	area	NOUN
dad-13359	436	28	even	even	ADV
dad-13359	436	29	when	when	SCONJ
dad-13359	436	30	recalling	recall	VERB
dad-13359	436	31	it	it	PRON
dad-13359	436	32	in	in	ADP
dad-13359	436	33	other	other	ADJ
dad-13359	436	34	locations	location	NOUN
dad-13359	436	35	.	.	PUNCT
dad-13359	437	1	this	this	DET
dad-13359	437	2	kind	kind	NOUN
dad-13359	437	3	of	of	ADP
dad-13359	437	4	error	error	NOUN
dad-13359	437	5	may	may	AUX
dad-13359	437	6	relate	relate	VERB
dad-13359	437	7	to	to	ADP
dad-13359	437	8	the	the	DET
dad-13359	437	9	model	model	NOUN
dad-13359	437	10	needing	need	VERB
dad-13359	437	11	to	to	PART
dad-13359	437	12	attend	attend	VERB
dad-13359	437	13	to	to	ADP
dad-13359	437	14	a	a	DET
dad-13359	437	15	number	number	NOUN
dad-13359	437	16	of	of	ADP
dad-13359	437	17	individual	individual	ADJ
dad-13359	437	18	facts	fact	NOUN
dad-13359	437	19	about	about	ADP
dad-13359	437	20	the	the	DET
dad-13359	437	21	plants	plant	NOUN
dad-13359	437	22	in	in	ADP
dad-13359	437	23	the	the	DET
dad-13359	437	24	data	datum	NOUN
dad-13359	437	25	at	at	ADP
dad-13359	437	26	once	once	ADV
dad-13359	437	27	,	,	PUNCT
dad-13359	437	28	thus	thus	ADV
dad-13359	437	29	overlooking	overlook	VERB
dad-13359	437	30	facts	fact	NOUN
dad-13359	437	31	where	where	SCONJ
dad-13359	437	32	the	the	DET
dad-13359	437	33	information	information	NOUN
dad-13359	437	34	is	be	AUX
dad-13359	437	35	available	available	ADJ
dad-13359	437	36	.	.	PUNCT
dad-13359	438	1	while	while	SCONJ
dad-13359	438	2	the	the	DET
dad-13359	438	3	information	information	NOUN
dad-13359	438	4	necessary	necessary	ADJ
dad-13359	438	5	to	to	PART
dad-13359	438	6	determine	determine	VERB
dad-13359	438	7	the	the	DET
dad-13359	438	8	chronological	chronological	ADJ
dad-13359	438	9	ordering	ordering	NOUN
dad-13359	438	10	of	of	ADP
dad-13359	438	11	locations	location	NOUN
dad-13359	438	12	visited	visit	VERB
dad-13359	438	13	,	,	PUNCT
dad-13359	438	14	time	time	NOUN
dad-13359	438	15	spent	spend	VERB
dad-13359	438	16	in	in	ADP
dad-13359	438	17	locations	location	NOUN
dad-13359	438	18	,	,	PUNCT
dad-13359	438	19	and	and	CCONJ
dad-13359	438	20	distances	distance	NOUN
dad-13359	438	21	traveled	travel	VERB
dad-13359	438	22	are	be	AUX
dad-13359	438	23	present	present	ADJ
dad-13359	438	24	in	in	ADP
dad-13359	438	25	the	the	DET
dad-13359	438	26	triple	triple	ADJ
dad-13359	438	27	-	-	PUNCT
dad-13359	438	28	structured	structured	ADJ
dad-13359	438	29	information	information	NOUN
dad-13359	438	30	,	,	PUNCT
dad-13359	438	31	the	the	DET
dad-13359	438	32	results	result	NOUN
dad-13359	438	33	suggest	suggest	VERB
dad-13359	438	34	that	that	SCONJ
dad-13359	438	35	it	it	PRON
dad-13359	438	36	is	be	AUX
dad-13359	438	37	difficult	difficult	ADJ
dad-13359	438	38	for	for	SCONJ
dad-13359	438	39	the	the	DET
dad-13359	438	40	model	model	NOUN
dad-13359	438	41	to	to	PART
dad-13359	438	42	fully	fully	ADV
dad-13359	438	43	make	make	VERB
dad-13359	438	44	use	use	NOUN
dad-13359	438	45	of	of	ADP
dad-13359	438	46	this	this	DET
dad-13359	438	47	information	information	NOUN
dad-13359	438	48	.	.	PUNCT
dad-13359	439	1	5	5	X
dad-13359	439	2	.	.	X
dad-13359	439	3	discussion	discussion	NOUN
dad-13359	439	4	5.1	5.1	NUM
dad-13359	439	5	assessment	assessment	NOUN
dad-13359	439	6	of	of	ADP
dad-13359	439	7	factuality	factuality	NOUN
dad-13359	439	8	variability	variability	NOUN
dad-13359	439	9	in	in	ADP
dad-13359	439	10	how	how	SCONJ
dad-13359	439	11	participants	participant	NOUN
dad-13359	439	12	approached	approach	VERB
dad-13359	439	13	the	the	DET
dad-13359	439	14	tour	tour	NOUN
dad-13359	439	15	and	and	CCONJ
dad-13359	439	16	what	what	PRON
dad-13359	439	17	was	be	AUX
dad-13359	439	18	shown	show	VERB
dad-13359	439	19	to	to	ADP
dad-13359	439	20	the	the	DET
dad-13359	439	21	robot	robot	NOUN
dad-13359	439	22	also	also	ADV
dad-13359	439	23	affected	affect	VERB
dad-13359	439	24	the	the	DET
dad-13359	439	25	results	result	NOUN
dad-13359	439	26	.	.	PUNCT
dad-13359	440	1	with	with	ADP
dad-13359	440	2	regard	regard	NOUN
dad-13359	440	3	to	to	ADP
dad-13359	440	4	the	the	DET
dad-13359	440	5	first	first	ADJ
dad-13359	440	6	question	question	NOUN
dad-13359	440	7	,	,	PUNCT
dad-13359	440	8	participants	participant	NOUN
dad-13359	440	9	appeared	appear	VERB
dad-13359	440	10	to	to	PART
dad-13359	440	11	differ	differ	VERB
dad-13359	440	12	in	in	ADP
dad-13359	440	13	their	their	PRON
dad-13359	440	14	criteria	criterion	NOUN
dad-13359	440	15	of	of	ADP
dad-13359	440	16	whether	whether	SCONJ
dad-13359	440	17	a	a	DET
dad-13359	440	18	statement	statement	NOUN
dad-13359	440	19	by	by	ADP
dad-13359	440	20	the	the	DET
dad-13359	440	21	robot	robot	NOUN
dad-13359	440	22	was	be	AUX
dad-13359	440	23	“	"	PUNCT
dad-13359	440	24	correct	correct	ADJ
dad-13359	440	25	”	"	PUNCT
dad-13359	440	26	or	or	CCONJ
dad-13359	440	27	not	not	PART
dad-13359	440	28	.	.	PUNCT
dad-13359	441	1	a	a	DET
dad-13359	441	2	score	score	NOUN
dad-13359	441	3	of	of	ADP
dad-13359	441	4	“	"	PUNCT
dad-13359	441	5	5	5	NUM
dad-13359	441	6	”	"	PUNCT
dad-13359	441	7	being	be	AUX
dad-13359	441	8	“	"	PUNCT
dad-13359	441	9	always	always	ADV
dad-13359	441	10	”	"	PUNCT
dad-13359	441	11	factual	factual	ADJ
dad-13359	441	12	could	could	AUX
dad-13359	441	13	be	be	AUX
dad-13359	441	14	interpreted	interpret	VERB
dad-13359	441	15	to	to	PART
dad-13359	441	16	require	require	VERB
dad-13359	441	17	that	that	SCONJ
dad-13359	441	18	the	the	DET
dad-13359	441	19	model	model	NOUN
dad-13359	441	20	hallucinated	hallucinate	VERB
dad-13359	441	21	precisely	precisely	ADV
dad-13359	441	22	zero	zero	NUM
dad-13359	441	23	times	time	NOUN
dad-13359	441	24	,	,	PUNCT
dad-13359	441	25	while	while	SCONJ
dad-13359	441	26	other	other	ADJ
dad-13359	441	27	participants	participant	NOUN
dad-13359	441	28	interpreted	interpret	VERB
dad-13359	441	29	the	the	DET
dad-13359	441	30	statement	statement	NOUN
dad-13359	441	31	as	as	SCONJ
dad-13359	441	32	that	that	SCONJ
dad-13359	441	33	the	the	DET
dad-13359	441	34	robot	robot	NOUN
dad-13359	441	35	’s	’s	PART
dad-13359	441	36	responses	response	NOUN
dad-13359	441	37	as	as	ADP
dad-13359	441	38	a	a	DET
dad-13359	441	39	whole	whole	NOUN
dad-13359	441	40	were	be	AUX
dad-13359	441	41	always	always	ADV
dad-13359	441	42	factual	factual	ADJ
dad-13359	441	43	.	.	PUNCT
dad-13359	442	1	one	one	NUM
dad-13359	442	2	alternative	alternative	ADJ
dad-13359	442	3	evaluation	evaluation	NOUN
dad-13359	442	4	strategy	strategy	NOUN
dad-13359	442	5	is	be	AUX
dad-13359	442	6	to	to	PART
dad-13359	442	7	evaluate	evaluate	VERB
dad-13359	442	8	the	the	DET
dad-13359	442	9	factuality	factuality	NOUN
dad-13359	442	10	of	of	ADP
dad-13359	442	11	the	the	DET
dad-13359	442	12	responses	response	NOUN
dad-13359	442	13	against	against	ADP
dad-13359	442	14	a	a	DET
dad-13359	442	15	ground	ground	NOUN
dad-13359	442	16	truth	truth	NOUN
dad-13359	442	17	.	.	PUNCT
dad-13359	443	1	however	however	ADV
dad-13359	443	2	,	,	PUNCT
dad-13359	443	3	defining	define	VERB
dad-13359	443	4	such	such	DET
dad-13359	443	5	a	a	DET
dad-13359	443	6	ground	ground	NOUN
dad-13359	443	7	truth	truth	NOUN
dad-13359	443	8	is	be	AUX
dad-13359	443	9	particularly	particularly	ADV
dad-13359	443	10	difficult	difficult	ADJ
dad-13359	443	11	in	in	ADP
dad-13359	443	12	human	human	ADJ
dad-13359	443	13	–	–	PUNCT
dad-13359	443	14	robot	robot	NOUN
dad-13359	443	15	interaction	interaction	NOUN
dad-13359	443	16	,	,	PUNCT
dad-13359	443	17	as	as	SCONJ
dad-13359	443	18	the	the	DET
dad-13359	443	19	agent	agent	NOUN
dad-13359	443	20	must	must	AUX
dad-13359	443	21	rely	rely	VERB
dad-13359	443	22	on	on	ADP
dad-13359	443	23	imperfect	imperfect	ADJ
dad-13359	443	24	and	and	CCONJ
dad-13359	443	25	often	often	ADV
dad-13359	443	26	error	error	NOUN
dad-13359	443	27	-	-	PUNCT
dad-13359	443	28	prone	prone	ADJ
dad-13359	443	29	sensors	sensor	NOUN
dad-13359	443	30	to	to	PART
dad-13359	443	31	perceive	perceive	VERB
dad-13359	443	32	its	its	PRON
dad-13359	443	33	physical	physical	ADJ
dad-13359	443	34	environment	environment	NOUN
dad-13359	443	35	.	.	PUNCT
dad-13359	444	1	80	80	NUM
dad-13359	444	2	a	a	DET
dad-13359	444	3	graph	graph	NOUN
dad-13359	444	4	-	-	PUNCT
dad-13359	444	5	to	to	ADP
dad-13359	444	6	-	-	PUNCT
dad-13359	444	7	text	text	NOUN
dad-13359	444	8	approach	approach	NOUN
dad-13359	444	9	to	to	ADP
dad-13359	444	10	knowledge	knowledge	NOUN
dad-13359	444	11	-	-	PUNCT
dad-13359	444	12	grounded	ground	VERB
dad-13359	444	13	response	response	NOUN
dad-13359	444	14	generation	generation	NOUN
dad-13359	444	15	in	in	ADP
dad-13359	444	16	hri	hri	PROPN
dad-13359	444	17	gpt	gpt	NOUN
dad-13359	444	18	-	-	PUNCT
dad-13359	444	19	triples	triple	NOUN
dad-13359	444	20	user	user	NOUN
dad-13359	444	21	:	:	PUNCT
dad-13359	444	22	can	can	AUX
dad-13359	444	23	you	you	PRON
dad-13359	444	24	summarize	summarize	VERB
dad-13359	444	25	our	our	PRON
dad-13359	444	26	tour	tour	NOUN
dad-13359	444	27	robot	robot	NOUN
dad-13359	444	28	:	:	PUNCT
dad-13359	444	29	during	during	ADP
dad-13359	444	30	our	our	PRON
dad-13359	444	31	exploration	exploration	NOUN
dad-13359	444	32	of	of	ADP
dad-13359	444	33	the	the	DET
dad-13359	444	34	office	office	NOUN
dad-13359	444	35	floor	floor	NOUN
dad-13359	444	36	,	,	PUNCT
dad-13359	444	37	we	we	PRON
dad-13359	444	38	visited	visit	VERB
dad-13359	444	39	various	various	ADJ
dad-13359	444	40	locations	location	NOUN
dad-13359	444	41	such	such	ADJ
dad-13359	444	42	as	as	ADP
dad-13359	444	43	corridors	corridor	NOUN
dad-13359	444	44	,	,	PUNCT
dad-13359	444	45	a	a	DET
dad-13359	444	46	printer	printer	NOUN
dad-13359	444	47	room	room	NOUN
dad-13359	444	48	,	,	PUNCT
dad-13359	444	49	storage	storage	NOUN
dad-13359	444	50	room	room	NOUN
dad-13359	444	51	,	,	PUNCT
dad-13359	444	52	offices	office	NOUN
dad-13359	444	53	,	,	PUNCT
dad-13359	444	54	a	a	DET
dad-13359	444	55	coffee	coffee	NOUN
dad-13359	444	56	break	break	NOUN
dad-13359	444	57	area	area	NOUN
dad-13359	444	58	,	,	PUNCT
dad-13359	444	59	and	and	CCONJ
dad-13359	444	60	a	a	DET
dad-13359	444	61	reception	reception	NOUN
dad-13359	444	62	area	area	NOUN
dad-13359	444	63	.	.	PUNCT
dad-13359	445	1	we	we	PRON
dad-13359	445	2	found	find	VERB
dad-13359	445	3	many	many	ADJ
dad-13359	445	4	items	item	NOUN
dad-13359	445	5	such	such	ADJ
dad-13359	445	6	as	as	ADP
dad-13359	445	7	doors	door	NOUN
dad-13359	445	8	,	,	PUNCT
dad-13359	445	9	blue	blue	ADJ
dad-13359	445	10	folders	folder	NOUN
dad-13359	445	11	,	,	PUNCT
dad-13359	445	12	a	a	DET
dad-13359	445	13	copy	copy	NOUN
dad-13359	445	14	machine	machine	NOUN
dad-13359	445	15	,	,	PUNCT
dad-13359	445	16	bookshelves	bookshelf	NOUN
dad-13359	445	17	,	,	PUNCT
dad-13359	445	18	a	a	DET
dad-13359	445	19	tv	tv	NOUN
dad-13359	445	20	,	,	PUNCT
dad-13359	445	21	a	a	DET
dad-13359	445	22	light	light	ADJ
dad-13359	445	23	switch	switch	NOUN
dad-13359	445	24	,	,	PUNCT
dad-13359	445	25	and	and	CCONJ
dad-13359	445	26	a	a	DET
dad-13359	445	27	wastebin	wastebin	NOUN
dad-13359	445	28	.	.	PUNCT
dad-13359	446	1	there	there	PRON
dad-13359	446	2	were	be	VERB
dad-13359	446	3	also	also	ADV
dad-13359	446	4	different	different	ADJ
dad-13359	446	5	movements	movement	NOUN
dad-13359	446	6	like	like	ADP
dad-13359	446	7	turning	turn	VERB
dad-13359	446	8	right	right	ADV
dad-13359	446	9	or	or	CCONJ
dad-13359	446	10	left	leave	VERB
dad-13359	446	11	and	and	CCONJ
dad-13359	446	12	proceeding	proceeding	NOUN
dad-13359	446	13	forwards	forward	NOUN
dad-13359	446	14	for	for	ADP
dad-13359	446	15	various	various	ADJ
dad-13359	446	16	meters	meter	NOUN
dad-13359	446	17	.	.	PUNCT
dad-13359	447	1	i	i	PRON
dad-13359	447	2	also	also	ADV
dad-13359	447	3	identified	identify	VERB
dad-13359	447	4	the	the	DET
dad-13359	447	5	presence	presence	NOUN
dad-13359	447	6	of	of	ADP
dad-13359	447	7	people	people	NOUN
dad-13359	447	8	,	,	PUNCT
dad-13359	447	9	but	but	CCONJ
dad-13359	447	10	i	i	PRON
dad-13359	447	11	can	can	AUX
dad-13359	447	12	not	not	PART
dad-13359	447	13	confirm	confirm	VERB
dad-13359	447	14	their	their	PRON
dad-13359	447	15	identities	identity	NOUN
dad-13359	447	16	.	.	PUNCT
dad-13359	448	1	the	the	DET
dad-13359	448	2	exploration	exploration	NOUN
dad-13359	448	3	began	begin	VERB
dad-13359	448	4	and	and	CCONJ
dad-13359	448	5	ended	end	VERB
dad-13359	448	6	at	at	ADP
dad-13359	448	7	different	different	ADJ
dad-13359	448	8	times	time	NOUN
dad-13359	448	9	as	as	SCONJ
dad-13359	448	10	indicated	indicate	VERB
dad-13359	448	11	by	by	ADP
dad-13359	448	12	the	the	DET
dad-13359	448	13	creation	creation	NOUN
dad-13359	448	14	time	time	NOUN
dad-13359	448	15	of	of	ADP
dad-13359	448	16	the	the	DET
dad-13359	448	17	objects	object	NOUN
dad-13359	448	18	and	and	CCONJ
dad-13359	448	19	paths	path	NOUN
dad-13359	448	20	.	.	PUNCT
dad-13359	449	1	user	user	NOUN
dad-13359	449	2	:	:	PUNCT
dad-13359	449	3	how	how	SCONJ
dad-13359	449	4	many	many	ADJ
dad-13359	449	5	people	people	NOUN
dad-13359	449	6	did	do	AUX
dad-13359	449	7	we	we	PRON
dad-13359	449	8	see	see	VERB
dad-13359	449	9	robot	robot	NOUN
dad-13359	449	10	:	:	PUNCT
dad-13359	449	11	it	it	PRON
dad-13359	449	12	’s	’	VERB
dad-13359	449	13	unclear	unclear	ADJ
dad-13359	449	14	exactly	exactly	ADV
dad-13359	449	15	how	how	SCONJ
dad-13359	449	16	many	many	ADJ
dad-13359	449	17	people	people	NOUN
dad-13359	449	18	we	we	PRON
dad-13359	449	19	saw	see	VERB
dad-13359	449	20	because	because	SCONJ
dad-13359	449	21	they	they	PRON
dad-13359	449	22	were	be	AUX
dad-13359	449	23	often	often	ADV
dad-13359	449	24	identified	identify	VERB
dad-13359	449	25	simply	simply	ADV
dad-13359	449	26	as	as	ADP
dad-13359	449	27	‘	'	PUNCT
dad-13359	449	28	person	person	NOUN
dad-13359	449	29	’	'	PUNCT
dad-13359	449	30	,	,	PUNCT
dad-13359	449	31	‘	'	PUNCT
dad-13359	449	32	man	man	NOUN
dad-13359	449	33	’	'	PUNCT
dad-13359	449	34	,	,	PUNCT
dad-13359	449	35	or	or	CCONJ
dad-13359	449	36	‘	'	PUNCT
dad-13359	449	37	woman	woman	NOUN
dad-13359	449	38	’	'	PUNCT
dad-13359	449	39	.	.	PUNCT
dad-13359	450	1	these	these	DET
dad-13359	450	2	labels	label	NOUN
dad-13359	450	3	could	could	AUX
dad-13359	450	4	refer	refer	VERB
dad-13359	450	5	to	to	ADP
dad-13359	450	6	the	the	DET
dad-13359	450	7	same	same	ADJ
dad-13359	450	8	or	or	CCONJ
dad-13359	450	9	different	different	ADJ
dad-13359	450	10	individuals	individual	NOUN
dad-13359	450	11	.	.	PUNCT
dad-13359	451	1	therefore	therefore	ADV
dad-13359	451	2	,	,	PUNCT
dad-13359	451	3	i	i	PRON
dad-13359	451	4	can	can	AUX
dad-13359	451	5	not	not	PART
dad-13359	451	6	accurately	accurately	ADV
dad-13359	451	7	provide	provide	VERB
dad-13359	451	8	the	the	DET
dad-13359	451	9	total	total	ADJ
dad-13359	451	10	number	number	NOUN
dad-13359	451	11	of	of	ADP
dad-13359	451	12	people	people	NOUN
dad-13359	451	13	we	we	PRON
dad-13359	451	14	saw	see	VERB
dad-13359	451	15	without	without	ADP
dad-13359	451	16	further	further	ADJ
dad-13359	451	17	information	information	NOUN
dad-13359	451	18	.	.	PUNCT
dad-13359	452	1	user	user	NOUN
dad-13359	452	2	:	:	PUNCT
dad-13359	452	3	did	do	AUX
dad-13359	452	4	we	we	PRON
dad-13359	452	5	go	go	VERB
dad-13359	452	6	up	up	ADP
dad-13359	452	7	to	to	ADP
dad-13359	452	8	the	the	DET
dad-13359	452	9	starting	starting	NOUN
dad-13359	452	10	area	area	NOUN
dad-13359	452	11	robot	robot	NOUN
dad-13359	452	12	:	:	PUNCT
dad-13359	453	1	yes	yes	INTJ
dad-13359	453	2	,	,	PUNCT
dad-13359	453	3	there	there	PRON
dad-13359	453	4	were	be	VERB
dad-13359	453	5	several	several	ADJ
dad-13359	453	6	mentions	mention	NOUN
dad-13359	453	7	of	of	ADP
dad-13359	453	8	moving	move	VERB
dad-13359	453	9	to	to	ADP
dad-13359	453	10	a	a	DET
dad-13359	453	11	location	location	NOUN
dad-13359	453	12	labeled	label	VERB
dad-13359	453	13	as	as	ADP
dad-13359	453	14	the	the	DET
dad-13359	453	15	“	"	PUNCT
dad-13359	453	16	starting	starting	NOUN
dad-13359	453	17	area	area	NOUN
dad-13359	453	18	”	"	PUNCT
dad-13359	453	19	during	during	ADP
dad-13359	453	20	our	our	PRON
dad-13359	453	21	exploration	exploration	NOUN
dad-13359	453	22	.	.	PUNCT
dad-13359	454	1	user	user	NOUN
dad-13359	454	2	:	:	PUNCT
dad-13359	454	3	how	how	SCONJ
dad-13359	454	4	long	long	ADV
dad-13359	454	5	did	do	AUX
dad-13359	454	6	we	we	PRON
dad-13359	454	7	spend	spend	VERB
dad-13359	454	8	in	in	ADP
dad-13359	454	9	the	the	DET
dad-13359	454	10	coffee	coffee	NOUN
dad-13359	454	11	room	room	NOUN
dad-13359	454	12	robot	robot	NOUN
dad-13359	454	13	:	:	PUNCT
dad-13359	454	14	the	the	DET
dad-13359	454	15	observations	observation	NOUN
dad-13359	454	16	do	do	AUX
dad-13359	454	17	not	not	PART
dad-13359	454	18	provide	provide	VERB
dad-13359	454	19	specific	specific	ADJ
dad-13359	454	20	information	information	NOUN
dad-13359	454	21	about	about	ADP
dad-13359	454	22	the	the	DET
dad-13359	454	23	amount	amount	NOUN
dad-13359	454	24	of	of	ADP
dad-13359	454	25	time	time	NOUN
dad-13359	454	26	spent	spend	VERB
dad-13359	454	27	in	in	ADP
dad-13359	454	28	the	the	DET
dad-13359	454	29	coffee	coffee	NOUN
dad-13359	454	30	break	break	NOUN
dad-13359	454	31	area	area	NOUN
dad-13359	454	32	.	.	PUNCT
dad-13359	455	1	user	user	NOUN
dad-13359	455	2	:	:	PUNCT
dad-13359	455	3	which	which	DET
dad-13359	455	4	area	area	NOUN
dad-13359	455	5	did	do	AUX
dad-13359	455	6	we	we	PRON
dad-13359	455	7	visit	visit	VERB
dad-13359	455	8	after	after	ADP
dad-13359	455	9	the	the	DET
dad-13359	455	10	coffee	coffee	NOUN
dad-13359	455	11	room	room	NOUN
dad-13359	455	12	robot	robot	NOUN
dad-13359	455	13	:	:	PUNCT
dad-13359	455	14	the	the	DET
dad-13359	455	15	observations	observation	NOUN
dad-13359	455	16	do	do	AUX
dad-13359	455	17	not	not	PART
dad-13359	455	18	provide	provide	VERB
dad-13359	455	19	a	a	DET
dad-13359	455	20	sequential	sequential	ADJ
dad-13359	455	21	order	order	NOUN
dad-13359	455	22	of	of	ADP
dad-13359	455	23	the	the	DET
dad-13359	455	24	locations	location	NOUN
dad-13359	455	25	visited	visit	VERB
dad-13359	455	26	,	,	PUNCT
dad-13359	455	27	so	so	SCONJ
dad-13359	455	28	it	it	PRON
dad-13359	455	29	’s	’	VERB
dad-13359	455	30	unclear	unclear	ADJ
dad-13359	455	31	which	which	DET
dad-13359	455	32	area	area	NOUN
dad-13359	455	33	was	be	AUX
dad-13359	455	34	visited	visit	VERB
dad-13359	455	35	immediately	immediately	ADV
dad-13359	455	36	after	after	ADP
dad-13359	455	37	the	the	DET
dad-13359	455	38	coffee	coffee	NOUN
dad-13359	455	39	break	break	NOUN
dad-13359	455	40	area	area	NOUN
dad-13359	455	41	.	.	PUNCT
dad-13359	456	1	user	user	NOUN
dad-13359	456	2	:	:	PUNCT
dad-13359	456	3	when	when	SCONJ
dad-13359	456	4	did	do	AUX
dad-13359	456	5	you	you	PRON
dad-13359	456	6	see	see	VERB
dad-13359	456	7	the	the	DET
dad-13359	456	8	plants	plant	NOUN
dad-13359	456	9	robot	robot	NOUN
dad-13359	456	10	:	:	PUNCT
dad-13359	456	11	according	accord	VERB
dad-13359	456	12	to	to	ADP
dad-13359	456	13	the	the	DET
dad-13359	456	14	observations	observation	NOUN
dad-13359	456	15	,	,	PUNCT
dad-13359	456	16	plants	plant	NOUN
dad-13359	456	17	were	be	AUX
dad-13359	456	18	seen	see	VERB
dad-13359	456	19	at	at	ADP
dad-13359	456	20	different	different	ADJ
dad-13359	456	21	times	time	NOUN
dad-13359	456	22	.	.	PUNCT
dad-13359	457	1	however	however	ADV
dad-13359	457	2	,	,	PUNCT
dad-13359	457	3	specific	specific	ADJ
dad-13359	457	4	timestamps	timestamp	NOUN
dad-13359	457	5	were	be	AUX
dad-13359	457	6	not	not	PART
dad-13359	457	7	provided	provide	VERB
dad-13359	457	8	for	for	ADP
dad-13359	457	9	all	all	PRON
dad-13359	457	10	of	of	ADP
dad-13359	457	11	these	these	DET
dad-13359	457	12	observations	observation	NOUN
dad-13359	457	13	.	.	PUNCT
dad-13359	458	1	the	the	DET
dad-13359	458	2	time	time	NOUN
dad-13359	458	3	a	a	DET
dad-13359	458	4	plant	plant	NOUN
dad-13359	458	5	was	be	AUX
dad-13359	458	6	seen	see	VERB
dad-13359	458	7	in	in	ADP
dad-13359	458	8	the	the	DET
dad-13359	458	9	“	"	PUNCT
dad-13359	458	10	survive	survive	NOUN
dad-13359	458	11	”	"	PUNCT
dad-13359	458	12	area	area	NOUN
dad-13359	458	13	was	be	AUX
dad-13359	458	14	at	at	ADP
dad-13359	458	15	08:49	08:49	NUM
dad-13359	458	16	,	,	PUNCT
dad-13359	458	17	one	one	NUM
dad-13359	458	18	in	in	ADP
dad-13359	458	19	corridor	corridor	ADJ
dad-13359	458	20	2	2	NUM
dad-13359	458	21	does	do	AUX
dad-13359	458	22	n’t	not	PART
dad-13359	458	23	have	have	VERB
dad-13359	458	24	a	a	DET
dad-13359	458	25	time	time	NOUN
dad-13359	458	26	,	,	PUNCT
dad-13359	458	27	and	and	CCONJ
dad-13359	458	28	the	the	DET
dad-13359	458	29	one	one	NUM
dad-13359	458	30	in	in	ADP
dad-13359	458	31	the	the	DET
dad-13359	458	32	reception	reception	NOUN
dad-13359	458	33	area	area	NOUN
dad-13359	458	34	was	be	AUX
dad-13359	458	35	n’t	not	PART
dad-13359	458	36	time	time	NOUN
dad-13359	458	37	-	-	PUNCT
dad-13359	458	38	stamped	stamp	VERB
dad-13359	458	39	either	either	ADV
dad-13359	458	40	.	.	PUNCT
dad-13359	459	1	user	user	NOUN
dad-13359	459	2	:	:	PUNCT
dad-13359	459	3	did	do	AUX
dad-13359	459	4	we	we	PRON
dad-13359	459	5	see	see	VERB
dad-13359	459	6	people	people	NOUN
dad-13359	459	7	after	after	SCONJ
dad-13359	459	8	we	we	PRON
dad-13359	459	9	left	leave	VERB
dad-13359	459	10	the	the	DET
dad-13359	459	11	coffee	coffee	NOUN
dad-13359	459	12	area	area	NOUN
dad-13359	459	13	robot	robot	NOUN
dad-13359	459	14	:	:	PUNCT
dad-13359	459	15	the	the	DET
dad-13359	459	16	observations	observation	NOUN
dad-13359	459	17	do	do	AUX
dad-13359	459	18	not	not	PART
dad-13359	459	19	provide	provide	VERB
dad-13359	459	20	a	a	DET
dad-13359	459	21	sequential	sequential	ADJ
dad-13359	459	22	order	order	NOUN
dad-13359	459	23	of	of	ADP
dad-13359	459	24	the	the	DET
dad-13359	459	25	events	event	NOUN
dad-13359	459	26	,	,	PUNCT
dad-13359	459	27	so	so	SCONJ
dad-13359	459	28	it	it	PRON
dad-13359	459	29	’s	’	VERB
dad-13359	459	30	unclear	unclear	ADJ
dad-13359	459	31	if	if	SCONJ
dad-13359	459	32	we	we	PRON
dad-13359	459	33	saw	see	VERB
dad-13359	459	34	people	people	NOUN
dad-13359	459	35	after	after	ADP
dad-13359	459	36	leaving	leave	VERB
dad-13359	459	37	the	the	DET
dad-13359	459	38	coffee	coffee	NOUN
dad-13359	459	39	break	break	NOUN
dad-13359	459	40	area	area	NOUN
dad-13359	459	41	.	.	PUNCT
dad-13359	460	1	dialogue	dialogue	NOUN
dad-13359	460	2	1	1	NUM
dad-13359	460	3	:	:	PUNCT
dad-13359	460	4	example	example	NOUN
dad-13359	460	5	using	use	VERB
dad-13359	460	6	the	the	DET
dad-13359	460	7	gpt	gpt	NOUN
dad-13359	460	8	-	-	PUNCT
dad-13359	460	9	triples	triple	NOUN
dad-13359	460	10	model	model	NOUN
dad-13359	460	11	.	.	PUNCT
dad-13359	461	1	this	this	DET
dad-13359	461	2	dialogue	dialogue	NOUN
dad-13359	461	3	was	be	AUX
dad-13359	461	4	given	give	VERB
dad-13359	461	5	by	by	ADP
dad-13359	461	6	the	the	DET
dad-13359	461	7	participant	participant	NOUN
dad-13359	461	8	a	a	DET
dad-13359	461	9	score	score	NOUN
dad-13359	461	10	of	of	ADP
dad-13359	461	11	3	3	NUM
dad-13359	461	12	for	for	ADP
dad-13359	461	13	both	both	DET
dad-13359	461	14	statements	statement	NOUN
dad-13359	461	15	.	.	PUNCT
dad-13359	462	1	this	this	DET
dad-13359	462	2	dialogue	dialogue	NOUN
dad-13359	462	3	illustrates	illustrate	VERB
dad-13359	462	4	questions	question	NOUN
dad-13359	462	5	to	to	PART
dad-13359	462	6	which	which	PRON
dad-13359	462	7	the	the	DET
dad-13359	462	8	triples	triple	NOUN
dad-13359	462	9	-	-	PUNCT
dad-13359	462	10	based	base	VERB
dad-13359	462	11	model	model	NOUN
dad-13359	462	12	had	have	VERB
dad-13359	462	13	difficulty	difficulty	NOUN
dad-13359	462	14	generating	generate	VERB
dad-13359	462	15	responses	response	NOUN
dad-13359	462	16	(	(	PUNCT
dad-13359	462	17	highlighted	highlight	VERB
dad-13359	462	18	in	in	ADP
dad-13359	462	19	red	red	PROPN
dad-13359	462	20	)	)	PUNCT
dad-13359	462	21	,	,	PUNCT
dad-13359	462	22	namely	namely	ADV
dad-13359	462	23	concerning	concern	VERB
dad-13359	462	24	the	the	DET
dad-13359	462	25	chronology	chronology	NOUN
dad-13359	462	26	of	of	ADP
dad-13359	462	27	perceived	perceive	VERB
dad-13359	462	28	objects	object	NOUN
dad-13359	462	29	and	and	CCONJ
dad-13359	462	30	explored	explore	VERB
dad-13359	462	31	locations	location	NOUN
dad-13359	462	32	.	.	PUNCT
dad-13359	463	1	81	81	NUM
dad-13359	463	2	walker	walker	NOUN
dad-13359	463	3	,	,	PUNCT
dad-13359	463	4	ultes	ulte	NOUN
dad-13359	463	5	and	and	CCONJ
dad-13359	463	6	lison	lison	NOUN
dad-13359	463	7	gpt	gpt	NOUN
dad-13359	463	8	-	-	PUNCT
dad-13359	463	9	verbal	verbal	ADJ
dad-13359	463	10	user	user	NOUN
dad-13359	463	11	:	:	PUNCT
dad-13359	463	12	what	what	PRON
dad-13359	463	13	’s	’	VERB
dad-13359	463	14	up	up	ADP
dad-13359	463	15	robot	robot	NOUN
dad-13359	463	16	:	:	PUNCT
dad-13359	463	17	as	as	ADP
dad-13359	463	18	a	a	DET
dad-13359	463	19	robot	robot	NOUN
dad-13359	463	20	,	,	PUNCT
dad-13359	463	21	i	i	PRON
dad-13359	463	22	do	do	AUX
dad-13359	463	23	n’t	not	PART
dad-13359	463	24	have	have	VERB
dad-13359	463	25	personal	personal	ADJ
dad-13359	463	26	experiences	experience	NOUN
dad-13359	463	27	,	,	PUNCT
dad-13359	463	28	but	but	CCONJ
dad-13359	463	29	i	i	PRON
dad-13359	463	30	have	have	AUX
dad-13359	463	31	recently	recently	ADV
dad-13359	463	32	completed	complete	VERB
dad-13359	463	33	the	the	DET
dad-13359	463	34	exploration	exploration	NOUN
dad-13359	463	35	of	of	ADP
dad-13359	463	36	an	an	DET
dad-13359	463	37	office	office	NOUN
dad-13359	463	38	floor	floor	NOUN
dad-13359	463	39	.	.	PUNCT
dad-13359	464	1	user	user	NOUN
dad-13359	464	2	:	:	PUNCT
dad-13359	465	1	[	[	X
dad-13359	465	2	utterance	utterance	NOUN
dad-13359	465	3	not	not	PART
dad-13359	465	4	recognized	recognize	VERB
dad-13359	465	5	]	]	PUNCT
dad-13359	465	6	robot	robot	NOUN
dad-13359	465	7	:	:	PUNCT
dad-13359	465	8	i	i	PRON
dad-13359	465	9	’m	’m	VERB
dad-13359	465	10	sorry	sorry	ADJ
dad-13359	465	11	,	,	PUNCT
dad-13359	465	12	but	but	CCONJ
dad-13359	465	13	your	your	PRON
dad-13359	465	14	previous	previous	ADJ
dad-13359	465	15	message	message	NOUN
dad-13359	465	16	was	be	AUX
dad-13359	465	17	not	not	PART
dad-13359	465	18	understood	understand	VERB
dad-13359	465	19	.	.	PUNCT
dad-13359	466	1	could	could	AUX
dad-13359	466	2	you	you	PRON
dad-13359	466	3	please	please	INTJ
dad-13359	466	4	provide	provide	VERB
dad-13359	466	5	more	more	ADJ
dad-13359	466	6	details	detail	NOUN
dad-13359	466	7	or	or	CCONJ
dad-13359	466	8	rephrase	rephrase	VERB
dad-13359	466	9	the	the	DET
dad-13359	466	10	query	query	NOUN
dad-13359	466	11	?	?	PUNCT
dad-13359	467	1	user	user	NOUN
dad-13359	467	2	:	:	PUNCT
dad-13359	467	3	can	can	AUX
dad-13359	467	4	you	you	PRON
dad-13359	467	5	mention	mention	VERB
dad-13359	467	6	all	all	DET
dad-13359	467	7	the	the	DET
dad-13359	467	8	rooms	room	NOUN
dad-13359	467	9	we	we	PRON
dad-13359	467	10	went	go	VERB
dad-13359	467	11	to	to	ADP
dad-13359	467	12	robot	robot	NOUN
dad-13359	467	13	:	:	PUNCT
dad-13359	468	1	yes	yes	INTJ
dad-13359	468	2	,	,	PUNCT
dad-13359	468	3	we	we	PRON
dad-13359	468	4	visited	visit	VERB
dad-13359	468	5	the	the	DET
dad-13359	468	6	starting	starting	NOUN
dad-13359	468	7	area	area	NOUN
dad-13359	468	8	,	,	PUNCT
dad-13359	468	9	hallway	hallway	INTJ
dad-13359	468	10	,	,	PUNCT
dad-13359	468	11	print	print	VERB
dad-13359	468	12	the	the	DET
dad-13359	468	13	room	room	NOUN
dad-13359	468	14	,	,	PUNCT
dad-13359	468	15	lisa	lisa	PROPN
dad-13359	468	16	’s	’s	PART
dad-13359	468	17	office	office	NOUN
dad-13359	468	18	and	and	CCONJ
dad-13359	468	19	the	the	DET
dad-13359	468	20	break	break	NOUN
dad-13359	468	21	room	room	NOUN
dad-13359	468	22	.	.	PUNCT
dad-13359	469	1	user	user	NOUN
dad-13359	469	2	:	:	PUNCT
dad-13359	469	3	how	how	SCONJ
dad-13359	469	4	often	often	ADV
dad-13359	469	5	do	do	AUX
dad-13359	469	6	we	we	PRON
dad-13359	469	7	go	go	VERB
dad-13359	469	8	in	in	ADP
dad-13359	469	9	the	the	DET
dad-13359	469	10	hallway	hallway	NOUN
dad-13359	469	11	robot	robot	NOUN
dad-13359	469	12	:	:	PUNCT
dad-13359	470	1	we	we	PRON
dad-13359	470	2	visited	visit	VERB
dad-13359	470	3	the	the	DET
dad-13359	470	4	hallway	hallway	NOUN
dad-13359	470	5	once	once	ADV
dad-13359	470	6	during	during	ADP
dad-13359	470	7	the	the	DET
dad-13359	470	8	exploration	exploration	NOUN
dad-13359	470	9	.	.	PUNCT
dad-13359	471	1	user	user	NOUN
dad-13359	471	2	:	:	PUNCT
dad-13359	471	3	did	do	AUX
dad-13359	471	4	you	you	PRON
dad-13359	471	5	see	see	VERB
dad-13359	471	6	any	any	DET
dad-13359	471	7	plants	plant	NOUN
dad-13359	471	8	robot	robot	NOUN
dad-13359	471	9	:	:	PUNCT
dad-13359	472	1	yes	yes	INTJ
dad-13359	472	2	,	,	PUNCT
dad-13359	472	3	i	i	PRON
dad-13359	472	4	observed	observe	VERB
dad-13359	472	5	a	a	DET
dad-13359	472	6	plant	plant	NOUN
dad-13359	472	7	in	in	ADP
dad-13359	472	8	the	the	DET
dad-13359	472	9	hallway	hallway	NOUN
dad-13359	472	10	during	during	ADP
dad-13359	472	11	the	the	DET
dad-13359	472	12	exploration	exploration	NOUN
dad-13359	472	13	.	.	PUNCT
dad-13359	473	1	i	i	PRON
dad-13359	473	2	may	may	AUX
dad-13359	473	3	have	have	AUX
dad-13359	473	4	also	also	ADV
dad-13359	473	5	seen	see	VERB
dad-13359	473	6	a	a	DET
dad-13359	473	7	plant	plant	NOUN
dad-13359	473	8	in	in	ADP
dad-13359	473	9	lisa	lisa	PROPN
dad-13359	473	10	’s	’s	PART
dad-13359	473	11	office	office	NOUN
dad-13359	473	12	,	,	PUNCT
dad-13359	473	13	but	but	CCONJ
dad-13359	473	14	i	i	PRON
dad-13359	473	15	’m	’m	VERB
dad-13359	473	16	not	not	PART
dad-13359	473	17	certain	certain	ADJ
dad-13359	473	18	.	.	PUNCT
dad-13359	474	1	user	user	NOUN
dad-13359	474	2	:	:	PUNCT
dad-13359	474	3	did	do	AUX
dad-13359	474	4	you	you	PRON
dad-13359	474	5	see	see	VERB
dad-13359	474	6	any	any	DET
dad-13359	474	7	fruits	fruit	NOUN
dad-13359	474	8	robot	robot	NOUN
dad-13359	474	9	:	:	PUNCT
dad-13359	474	10	i	i	PRON
dad-13359	474	11	may	may	AUX
dad-13359	474	12	have	have	AUX
dad-13359	474	13	seen	see	VERB
dad-13359	474	14	fruit	fruit	NOUN
dad-13359	474	15	in	in	ADP
dad-13359	474	16	the	the	DET
dad-13359	474	17	hallway	hallway	NOUN
dad-13359	474	18	and	and	CCONJ
dad-13359	474	19	the	the	DET
dad-13359	474	20	break	break	NOUN
dad-13359	474	21	room	room	NOUN
dad-13359	474	22	,	,	PUNCT
dad-13359	474	23	but	but	CCONJ
dad-13359	474	24	the	the	DET
dad-13359	474	25	observations	observation	NOUN
dad-13359	474	26	are	be	AUX
dad-13359	474	27	uncertain	uncertain	ADJ
dad-13359	474	28	.	.	PUNCT
dad-13359	475	1	user	user	NOUN
dad-13359	475	2	:	:	PUNCT
dad-13359	476	1	[	[	X
dad-13359	476	2	utterance	utterance	NOUN
dad-13359	476	3	not	not	PART
dad-13359	476	4	recognized	recognize	VERB
dad-13359	476	5	]	]	PUNCT
dad-13359	476	6	robot	robot	NOUN
dad-13359	476	7	:	:	PUNCT
dad-13359	476	8	i	i	PRON
dad-13359	476	9	’m	’m	VERB
dad-13359	476	10	sorry	sorry	ADJ
dad-13359	476	11	,	,	PUNCT
dad-13359	476	12	but	but	CCONJ
dad-13359	476	13	your	your	PRON
dad-13359	476	14	previous	previous	ADJ
dad-13359	476	15	message	message	NOUN
dad-13359	476	16	was	be	AUX
dad-13359	476	17	not	not	PART
dad-13359	476	18	understood	understand	VERB
dad-13359	476	19	.	.	PUNCT
dad-13359	477	1	could	could	AUX
dad-13359	477	2	you	you	PRON
dad-13359	477	3	please	please	INTJ
dad-13359	477	4	provide	provide	VERB
dad-13359	477	5	more	more	ADJ
dad-13359	477	6	details	detail	NOUN
dad-13359	477	7	or	or	CCONJ
dad-13359	477	8	rephrase	rephrase	VERB
dad-13359	477	9	the	the	DET
dad-13359	477	10	query	query	NOUN
dad-13359	477	11	?	?	PUNCT
dad-13359	478	1	user	user	NOUN
dad-13359	478	2	:	:	PUNCT
dad-13359	478	3	did	do	AUX
dad-13359	478	4	you	you	PRON
dad-13359	478	5	see	see	VERB
dad-13359	478	6	any	any	DET
dad-13359	478	7	apples	apple	NOUN
dad-13359	478	8	robot	robot	NOUN
dad-13359	478	9	:	:	PUNCT
dad-13359	478	10	the	the	DET
dad-13359	478	11	observations	observation	NOUN
dad-13359	478	12	do	do	AUX
dad-13359	478	13	not	not	PART
dad-13359	478	14	provide	provide	VERB
dad-13359	478	15	information	information	NOUN
dad-13359	478	16	on	on	ADP
dad-13359	478	17	whether	whether	SCONJ
dad-13359	478	18	i	i	PRON
dad-13359	478	19	saw	see	VERB
dad-13359	478	20	any	any	DET
dad-13359	478	21	apples	apple	NOUN
dad-13359	478	22	during	during	ADP
dad-13359	478	23	the	the	DET
dad-13359	478	24	exploration	exploration	NOUN
dad-13359	478	25	.	.	PUNCT
dad-13359	479	1	user	user	NOUN
dad-13359	479	2	:	:	PUNCT
dad-13359	479	3	did	do	AUX
dad-13359	479	4	you	you	PRON
dad-13359	479	5	see	see	VERB
dad-13359	479	6	any	any	DET
dad-13359	479	7	paintings	painting	NOUN
dad-13359	479	8	robot	robot	NOUN
dad-13359	479	9	:	:	PUNCT
dad-13359	479	10	i	i	PRON
dad-13359	479	11	may	may	AUX
dad-13359	479	12	have	have	AUX
dad-13359	479	13	seen	see	VERB
dad-13359	479	14	a	a	DET
dad-13359	479	15	painting	painting	NOUN
dad-13359	479	16	in	in	ADP
dad-13359	479	17	the	the	DET
dad-13359	479	18	hallway	hallway	NOUN
dad-13359	479	19	,	,	PUNCT
dad-13359	479	20	but	but	CCONJ
dad-13359	479	21	the	the	DET
dad-13359	479	22	observation	observation	NOUN
dad-13359	479	23	is	be	AUX
dad-13359	479	24	uncertain	uncertain	ADJ
dad-13359	479	25	.	.	PUNCT
dad-13359	480	1	user	user	NOUN
dad-13359	480	2	:	:	PUNCT
dad-13359	480	3	can	can	AUX
dad-13359	480	4	you	you	PRON
dad-13359	480	5	dance	dance	VERB
dad-13359	480	6	for	for	ADP
dad-13359	480	7	me	i	PRON
dad-13359	480	8	robot	robot	NOUN
dad-13359	480	9	:	:	PUNCT
dad-13359	480	10	as	as	ADP
dad-13359	480	11	a	a	DET
dad-13359	480	12	text	text	NOUN
dad-13359	480	13	-	-	PUNCT
dad-13359	480	14	based	base	VERB
dad-13359	480	15	ai	ai	NOUN
dad-13359	480	16	,	,	PUNCT
dad-13359	480	17	i	i	PRON
dad-13359	480	18	’m	’m	VERB
dad-13359	480	19	afraid	afraid	ADJ
dad-13359	480	20	i	i	PRON
dad-13359	480	21	do	do	AUX
dad-13359	480	22	n’t	not	PART
dad-13359	480	23	have	have	VERB
dad-13359	480	24	the	the	DET
dad-13359	480	25	capability	capability	NOUN
dad-13359	480	26	to	to	PART
dad-13359	480	27	dance	dance	VERB
dad-13359	480	28	.	.	PUNCT
dad-13359	481	1	user	user	NOUN
dad-13359	481	2	:	:	PUNCT
dad-13359	481	3	did	do	AUX
dad-13359	481	4	you	you	PRON
dad-13359	481	5	see	see	VERB
dad-13359	481	6	any	any	DET
dad-13359	481	7	paintings	painting	NOUN
dad-13359	481	8	in	in	ADP
dad-13359	481	9	leases	lease	NOUN
dad-13359	481	10	office	office	NOUN
dad-13359	481	11	robot	robot	NOUN
dad-13359	481	12	:	:	PUNCT
dad-13359	481	13	the	the	DET
dad-13359	481	14	observations	observation	NOUN
dad-13359	481	15	do	do	AUX
dad-13359	481	16	not	not	PART
dad-13359	481	17	provide	provide	VERB
dad-13359	481	18	information	information	NOUN
dad-13359	481	19	on	on	ADP
dad-13359	481	20	whether	whether	SCONJ
dad-13359	481	21	i	i	PRON
dad-13359	481	22	saw	see	VERB
dad-13359	481	23	any	any	DET
dad-13359	481	24	paintings	painting	NOUN
dad-13359	481	25	in	in	ADP
dad-13359	481	26	lisa	lisa	PROPN
dad-13359	481	27	’s	’s	PART
dad-13359	481	28	office	office	NOUN
dad-13359	481	29	during	during	ADP
dad-13359	481	30	the	the	DET
dad-13359	481	31	exploration	exploration	NOUN
dad-13359	481	32	.	.	PUNCT
dad-13359	482	1	user	user	NOUN
dad-13359	482	2	:	:	PUNCT
dad-13359	482	3	did	do	AUX
dad-13359	482	4	we	we	PRON
dad-13359	482	5	go	go	VERB
dad-13359	482	6	to	to	AUX
dad-13359	482	7	lashes	lash	VERB
dad-13359	482	8	office	office	NOUN
dad-13359	482	9	robot	robot	NOUN
dad-13359	482	10	:	:	PUNCT
dad-13359	482	11	there	there	PRON
dad-13359	482	12	is	be	VERB
dad-13359	482	13	no	no	DET
dad-13359	482	14	mention	mention	NOUN
dad-13359	482	15	of	of	ADP
dad-13359	482	16	a	a	DET
dad-13359	482	17	place	place	NOUN
dad-13359	482	18	called	call	VERB
dad-13359	482	19	“	"	PUNCT
dad-13359	482	20	lashes	lash	VERB
dad-13359	482	21	office	office	NOUN
dad-13359	482	22	”	"	PUNCT
dad-13359	482	23	in	in	ADP
dad-13359	482	24	the	the	DET
dad-13359	482	25	observations	observation	NOUN
dad-13359	482	26	.	.	PUNCT
dad-13359	483	1	we	we	PRON
dad-13359	483	2	did	do	AUX
dad-13359	483	3	go	go	VERB
dad-13359	483	4	to	to	ADP
dad-13359	483	5	a	a	DET
dad-13359	483	6	place	place	NOUN
dad-13359	483	7	called	call	VERB
dad-13359	483	8	“	"	PUNCT
dad-13359	483	9	lisa	lisa	PROPN
dad-13359	483	10	’s	’s	PART
dad-13359	483	11	office	office	NOUN
dad-13359	483	12	”	"	PUNCT
dad-13359	483	13	.	.	PUNCT
dad-13359	484	1	user	user	NOUN
dad-13359	484	2	:	:	PUNCT
dad-13359	484	3	did	do	AUX
dad-13359	484	4	you	you	PRON
dad-13359	484	5	see	see	VERB
dad-13359	484	6	a	a	DET
dad-13359	484	7	ping	ping	NOUN
dad-13359	484	8	pong	pong	PROPN
dad-13359	484	9	table	table	NOUN
dad-13359	484	10	robot	robot	NOUN
dad-13359	484	11	:	:	PUNCT
dad-13359	484	12	the	the	DET
dad-13359	484	13	observations	observation	NOUN
dad-13359	484	14	do	do	AUX
dad-13359	484	15	not	not	PART
dad-13359	484	16	provide	provide	VERB
dad-13359	484	17	information	information	NOUN
dad-13359	484	18	on	on	ADP
dad-13359	484	19	whether	whether	SCONJ
dad-13359	484	20	i	i	PRON
dad-13359	484	21	saw	see	VERB
dad-13359	484	22	a	a	DET
dad-13359	484	23	ping	ping	NOUN
dad-13359	484	24	pong	pong	NOUN
dad-13359	484	25	table	table	NOUN
dad-13359	484	26	during	during	ADP
dad-13359	484	27	the	the	DET
dad-13359	484	28	exploration	exploration	NOUN
dad-13359	484	29	.	.	PUNCT
dad-13359	485	1	user	user	NOUN
dad-13359	485	2	:	:	PUNCT
dad-13359	485	3	did	do	AUX
dad-13359	485	4	you	you	PRON
dad-13359	485	5	see	see	VERB
dad-13359	485	6	a	a	DET
dad-13359	485	7	coffee	coffee	NOUN
dad-13359	485	8	machine	machine	NOUN
dad-13359	485	9	robot	robot	NOUN
dad-13359	485	10	:	:	PUNCT
dad-13359	485	11	the	the	DET
dad-13359	485	12	observations	observation	NOUN
dad-13359	485	13	do	do	AUX
dad-13359	485	14	not	not	PART
dad-13359	485	15	provide	provide	VERB
dad-13359	485	16	information	information	NOUN
dad-13359	485	17	on	on	ADP
dad-13359	485	18	whether	whether	SCONJ
dad-13359	485	19	i	i	PRON
dad-13359	485	20	saw	see	VERB
dad-13359	485	21	a	a	DET
dad-13359	485	22	coffee	coffee	NOUN
dad-13359	485	23	machine	machine	NOUN
dad-13359	485	24	during	during	ADP
dad-13359	485	25	the	the	DET
dad-13359	485	26	exploration	exploration	NOUN
dad-13359	485	27	.	.	PUNCT
dad-13359	486	1	dialogue	dialogue	NOUN
dad-13359	486	2	2	2	NUM
dad-13359	486	3	:	:	PUNCT
dad-13359	486	4	example	example	NOUN
dad-13359	486	5	using	use	VERB
dad-13359	486	6	the	the	DET
dad-13359	486	7	gpt	gpt	NOUN
dad-13359	486	8	-	-	PUNCT
dad-13359	486	9	verbal	verbal	ADJ
dad-13359	486	10	model	model	NOUN
dad-13359	486	11	.	.	PUNCT
dad-13359	487	1	this	this	DET
dad-13359	487	2	dialogue	dialogue	NOUN
dad-13359	487	3	was	be	AUX
dad-13359	487	4	given	give	VERB
dad-13359	487	5	a	a	DET
dad-13359	487	6	score	score	NOUN
dad-13359	487	7	of	of	ADP
dad-13359	487	8	4	4	NUM
dad-13359	487	9	for	for	ADP
dad-13359	487	10	statement	statement	NOUN
dad-13359	487	11	1	1	NUM
dad-13359	487	12	and	and	CCONJ
dad-13359	487	13	3	3	NUM
dad-13359	487	14	for	for	ADP
dad-13359	487	15	statement	statement	NOUN
dad-13359	487	16	2	2	NUM
dad-13359	487	17	.	.	PUNCT
dad-13359	488	1	this	this	DET
dad-13359	488	2	dialogue	dialogue	NOUN
dad-13359	488	3	featured	feature	VERB
dad-13359	488	4	a	a	DET
dad-13359	488	5	number	number	NOUN
dad-13359	488	6	of	of	ADP
dad-13359	488	7	speech	speech	NOUN
dad-13359	488	8	recognition	recognition	NOUN
dad-13359	488	9	errors	error	NOUN
dad-13359	488	10	.	.	PUNCT
dad-13359	489	1	additionally	additionally	ADV
dad-13359	489	2	,	,	PUNCT
dad-13359	489	3	the	the	DET
dad-13359	489	4	model	model	NOUN
dad-13359	489	5	responded	respond	VERB
dad-13359	489	6	to	to	ADP
dad-13359	489	7	several	several	ADJ
dad-13359	489	8	questions	question	NOUN
dad-13359	489	9	with	with	ADP
dad-13359	489	10	an	an	DET
dad-13359	489	11	expression	expression	NOUN
dad-13359	489	12	of	of	ADP
dad-13359	489	13	uncertainty	uncertainty	NOUN
dad-13359	489	14	about	about	ADP
dad-13359	489	15	the	the	DET
dad-13359	489	16	observations	observation	NOUN
dad-13359	489	17	(	(	PUNCT
dad-13359	489	18	highlighted	highlight	VERB
dad-13359	489	19	in	in	ADP
dad-13359	489	20	blue	blue	NOUN
dad-13359	489	21	)	)	PUNCT
dad-13359	489	22	.	.	PUNCT
dad-13359	490	1	notably	notably	ADV
dad-13359	490	2	,	,	PUNCT
dad-13359	490	3	the	the	DET
dad-13359	490	4	final	final	ADJ
dad-13359	490	5	turn	turn	NOUN
dad-13359	490	6	was	be	AUX
dad-13359	490	7	accurate	accurate	ADJ
dad-13359	490	8	in	in	ADP
dad-13359	490	9	regard	regard	NOUN
dad-13359	490	10	to	to	ADP
dad-13359	490	11	the	the	DET
dad-13359	490	12	observations	observation	NOUN
dad-13359	490	13	as	as	SCONJ
dad-13359	490	14	no	no	DET
dad-13359	490	15	coffee	coffee	NOUN
dad-13359	490	16	machine	machine	NOUN
dad-13359	490	17	was	be	AUX
dad-13359	490	18	recorded	record	VERB
dad-13359	490	19	by	by	ADP
dad-13359	490	20	the	the	DET
dad-13359	490	21	object	object	NOUN
dad-13359	490	22	detection	detection	NOUN
dad-13359	490	23	model	model	NOUN
dad-13359	490	24	.	.	PUNCT
dad-13359	491	1	82	82	NUM
dad-13359	491	2	a	a	DET
dad-13359	491	3	graph	graph	NOUN
dad-13359	491	4	-	-	PUNCT
dad-13359	491	5	to	to	ADP
dad-13359	491	6	-	-	PUNCT
dad-13359	491	7	text	text	NOUN
dad-13359	491	8	approach	approach	NOUN
dad-13359	491	9	to	to	ADP
dad-13359	491	10	knowledge	knowledge	NOUN
dad-13359	491	11	-	-	PUNCT
dad-13359	491	12	grounded	ground	VERB
dad-13359	491	13	response	response	NOUN
dad-13359	491	14	generation	generation	NOUN
dad-13359	491	15	in	in	ADP
dad-13359	491	16	hri	hri	PROPN
dad-13359	491	17	5.2	5.2	NUM
dad-13359	491	18	question	question	NOUN
dad-13359	491	19	types	type	NOUN
dad-13359	491	20	in	in	ADP
dad-13359	491	21	general	general	ADJ
dad-13359	491	22	,	,	PUNCT
dad-13359	491	23	the	the	DET
dad-13359	491	24	participants	participant	NOUN
dad-13359	491	25	tended	tend	VERB
dad-13359	491	26	to	to	PART
dad-13359	491	27	focus	focus	VERB
dad-13359	491	28	quite	quite	ADV
dad-13359	491	29	heavily	heavily	ADV
dad-13359	491	30	on	on	ADP
dad-13359	491	31	asking	ask	VERB
dad-13359	491	32	questions	question	NOUN
dad-13359	491	33	related	relate	VERB
dad-13359	491	34	to	to	ADP
dad-13359	491	35	what	what	PRON
dad-13359	491	36	was	be	AUX
dad-13359	491	37	seen	see	VERB
dad-13359	491	38	in	in	ADP
dad-13359	491	39	the	the	DET
dad-13359	491	40	tour	tour	NOUN
dad-13359	491	41	,	,	PUNCT
dad-13359	491	42	as	as	SCONJ
dad-13359	491	43	opposed	oppose	VERB
dad-13359	491	44	to	to	ADP
dad-13359	491	45	distances	distance	NOUN
dad-13359	491	46	traveled	travel	VERB
dad-13359	491	47	or	or	CCONJ
dad-13359	491	48	relative	relative	ADJ
dad-13359	491	49	locations	location	NOUN
dad-13359	491	50	.	.	PUNCT
dad-13359	492	1	this	this	DET
dad-13359	492	2	tendency	tendency	NOUN
dad-13359	492	3	is	be	AUX
dad-13359	492	4	natural	natural	ADJ
dad-13359	492	5	given	give	VERB
dad-13359	492	6	that	that	SCONJ
dad-13359	492	7	it	it	PRON
dad-13359	492	8	is	be	AUX
dad-13359	492	9	simpler	simple	ADJ
dad-13359	492	10	to	to	PART
dad-13359	492	11	evaluate	evaluate	VERB
dad-13359	492	12	factuality	factuality	NOUN
dad-13359	492	13	with	with	ADP
dad-13359	492	14	respect	respect	NOUN
dad-13359	492	15	to	to	ADP
dad-13359	492	16	seen	see	VERB
dad-13359	492	17	objects	object	NOUN
dad-13359	492	18	as	as	SCONJ
dad-13359	492	19	opposed	oppose	VERB
dad-13359	492	20	to	to	ADP
dad-13359	492	21	less	less	ADV
dad-13359	492	22	easily	easily	ADV
dad-13359	492	23	memorable	memorable	ADJ
dad-13359	492	24	aspects	aspect	NOUN
dad-13359	492	25	such	such	ADJ
dad-13359	492	26	as	as	ADP
dad-13359	492	27	number	number	NOUN
dad-13359	492	28	of	of	ADP
dad-13359	492	29	robot	robot	NOUN
dad-13359	492	30	turns	turn	VERB
dad-13359	492	31	or	or	CCONJ
dad-13359	492	32	exact	exact	ADJ
dad-13359	492	33	times	time	NOUN
dad-13359	492	34	rooms	room	NOUN
dad-13359	492	35	were	be	AUX
dad-13359	492	36	entered	enter	VERB
dad-13359	492	37	.	.	PUNCT
dad-13359	493	1	this	this	DET
dad-13359	493	2	kind	kind	NOUN
dad-13359	493	3	of	of	ADP
dad-13359	493	4	question	question	NOUN
dad-13359	493	5	was	be	AUX
dad-13359	493	6	handled	handle	VERB
dad-13359	493	7	well	well	ADV
dad-13359	493	8	by	by	ADP
dad-13359	493	9	all	all	DET
dad-13359	493	10	models	model	NOUN
dad-13359	493	11	.	.	PUNCT
dad-13359	494	1	the	the	DET
dad-13359	494	2	questions	question	NOUN
dad-13359	494	3	posed	pose	VERB
dad-13359	494	4	by	by	ADP
dad-13359	494	5	the	the	DET
dad-13359	494	6	users	user	NOUN
dad-13359	494	7	can	can	AUX
dad-13359	494	8	be	be	AUX
dad-13359	494	9	divided	divide	VERB
dad-13359	494	10	into	into	ADP
dad-13359	494	11	several	several	ADJ
dad-13359	494	12	categories	category	NOUN
dad-13359	494	13	:	:	PUNCT
dad-13359	494	14	•	•	NUM
dad-13359	494	15	polar	polar	ADJ
dad-13359	494	16	questions	question	NOUN
dad-13359	494	17	(	(	PUNCT
dad-13359	494	18	e.g.	e.g.	ADV
dad-13359	494	19	“	"	PUNCT
dad-13359	494	20	did	do	AUX
dad-13359	494	21	you	you	PRON
dad-13359	494	22	see	see	VERB
dad-13359	494	23	a	a	DET
dad-13359	494	24	chair	chair	NOUN
dad-13359	494	25	in	in	ADP
dad-13359	494	26	the	the	DET
dad-13359	494	27	office	office	NOUN
dad-13359	494	28	?	?	PUNCT
dad-13359	494	29	”	"	PUNCT
dad-13359	494	30	,	,	PUNCT
dad-13359	494	31	“	"	PUNCT
dad-13359	494	32	did	do	AUX
dad-13359	494	33	we	we	PRON
dad-13359	494	34	go	go	VERB
dad-13359	494	35	to	to	ADP
dad-13359	494	36	a	a	DET
dad-13359	494	37	room	room	NOUN
dad-13359	494	38	called	call	VERB
dad-13359	494	39	office	office	NOUN
dad-13359	494	40	?	?	PUNCT
dad-13359	494	41	”	"	PUNCT
dad-13359	494	42	)	)	PUNCT
dad-13359	494	43	•	•	ADP
dad-13359	494	44	wh	wh	NOUN
dad-13359	494	45	-	-	PUNCT
dad-13359	494	46	questions	question	NOUN
dad-13359	494	47	(	(	PUNCT
dad-13359	494	48	“	"	PUNCT
dad-13359	494	49	what	what	PRON
dad-13359	494	50	did	do	AUX
dad-13359	494	51	you	you	PRON
dad-13359	494	52	see	see	VERB
dad-13359	494	53	in	in	ADP
dad-13359	494	54	the	the	DET
dad-13359	494	55	office	office	NOUN
dad-13359	494	56	?	?	PUNCT
dad-13359	494	57	”	"	PUNCT
dad-13359	494	58	,	,	PUNCT
dad-13359	494	59	“	"	PUNCT
dad-13359	494	60	what	what	PRON
dad-13359	494	61	was	be	AUX
dad-13359	494	62	the	the	DET
dad-13359	494	63	second	second	ADJ
dad-13359	494	64	room	room	NOUN
dad-13359	494	65	we	we	PRON
dad-13359	494	66	visited	visit	VERB
dad-13359	494	67	?	?	PUNCT
dad-13359	494	68	”	"	PUNCT
dad-13359	494	69	)	)	PUNCT
dad-13359	494	70	•	•	ADV
dad-13359	494	71	indirect	indirect	ADJ
dad-13359	494	72	/	/	SYM
dad-13359	494	73	open	open	ADV
dad-13359	494	74	-	-	PUNCT
dad-13359	494	75	ended	end	VERB
dad-13359	494	76	questions	question	NOUN
dad-13359	494	77	(	(	PUNCT
dad-13359	494	78	“	"	PUNCT
dad-13359	494	79	how	how	SCONJ
dad-13359	494	80	about	about	ADP
dad-13359	494	81	after	after	ADP
dad-13359	494	82	that	that	PRON
dad-13359	494	83	?	?	PUNCT
dad-13359	494	84	”	"	PUNCT
dad-13359	494	85	,	,	PUNCT
dad-13359	494	86	“	"	PUNCT
dad-13359	494	87	please	please	INTJ
dad-13359	494	88	summarize	summarize	VERB
dad-13359	494	89	the	the	DET
dad-13359	494	90	tour	tour	NOUN
dad-13359	494	91	.	.	PUNCT
dad-13359	494	92	”	"	PUNCT
dad-13359	494	93	)	)	PUNCT
dad-13359	494	94	moreover	moreover	ADV
dad-13359	494	95	,	,	PUNCT
dad-13359	494	96	these	these	DET
dad-13359	494	97	questions	question	NOUN
dad-13359	494	98	principally	principally	ADV
dad-13359	494	99	centered	center	VERB
dad-13359	494	100	on	on	ADP
dad-13359	494	101	1	1	NUM
dad-13359	494	102	)	)	PUNCT
dad-13359	494	103	visual	visual	ADJ
dad-13359	494	104	recognition	recognition	NOUN
dad-13359	494	105	(	(	PUNCT
dad-13359	494	106	as	as	SCONJ
dad-13359	494	107	noted	note	VERB
dad-13359	494	108	above	above	ADV
dad-13359	494	109	)	)	PUNCT
dad-13359	494	110	and	and	CCONJ
dad-13359	494	111	2	2	X
dad-13359	494	112	)	)	PUNCT
dad-13359	494	113	routing	routing	NOUN
dad-13359	494	114	and	and	CCONJ
dad-13359	494	115	path	path	NOUN
dad-13359	494	116	description	description	NOUN
dad-13359	494	117	,	,	PUNCT
dad-13359	494	118	along	along	ADP
dad-13359	494	119	with	with	ADP
dad-13359	494	120	3	3	NUM
dad-13359	494	121	)	)	PUNCT
dad-13359	494	122	requests	request	NOUN
dad-13359	494	123	for	for	ADP
dad-13359	494	124	summary	summary	NOUN
dad-13359	494	125	,	,	PUNCT
dad-13359	494	126	which	which	PRON
dad-13359	494	127	came	come	VERB
dad-13359	494	128	exclusively	exclusively	ADV
dad-13359	494	129	at	at	ADP
dad-13359	494	130	the	the	DET
dad-13359	494	131	start	start	NOUN
dad-13359	494	132	of	of	ADP
dad-13359	494	133	dialogues	dialogue	NOUN
dad-13359	494	134	.	.	PUNCT
dad-13359	495	1	polar	polar	ADJ
dad-13359	495	2	questions	question	NOUN
dad-13359	495	3	requiring	require	VERB
dad-13359	495	4	a	a	DET
dad-13359	495	5	yes	yes	INTJ
dad-13359	495	6	or	or	CCONJ
dad-13359	495	7	no	no	DET
dad-13359	495	8	answer	answer	NOUN
dad-13359	495	9	were	be	AUX
dad-13359	495	10	typically	typically	ADV
dad-13359	495	11	handled	handle	VERB
dad-13359	495	12	well	well	ADV
dad-13359	495	13	by	by	ADP
dad-13359	495	14	all	all	DET
dad-13359	495	15	models	model	NOUN
dad-13359	495	16	(	(	PUNCT
dad-13359	495	17	although	although	SCONJ
dad-13359	495	18	as	as	SCONJ
dad-13359	495	19	noted	note	VERB
dad-13359	495	20	above	above	ADP
dad-13359	495	21	the	the	DET
dad-13359	495	22	llama	llama	PROPN
dad-13359	495	23	model	model	NOUN
dad-13359	495	24	encountered	encounter	VERB
dad-13359	495	25	occasional	occasional	ADJ
dad-13359	495	26	repeated	repeat	VERB
dad-13359	495	27	failures	failure	NOUN
dad-13359	495	28	within	within	ADP
dad-13359	495	29	a	a	DET
dad-13359	495	30	dialogue	dialogue	NOUN
dad-13359	495	31	)	)	PUNCT
dad-13359	495	32	.	.	PUNCT
dad-13359	496	1	the	the	DET
dad-13359	496	2	advantages	advantage	NOUN
dad-13359	496	3	of	of	ADP
dad-13359	496	4	our	our	PRON
dad-13359	496	5	proposed	propose	VERB
dad-13359	496	6	model	model	NOUN
dad-13359	496	7	are	be	AUX
dad-13359	496	8	best	well	ADV
dad-13359	496	9	illustrated	illustrate	VERB
dad-13359	496	10	in	in	ADP
dad-13359	496	11	questions	question	NOUN
dad-13359	496	12	which	which	PRON
dad-13359	496	13	centered	center	VERB
dad-13359	496	14	on	on	ADP
dad-13359	496	15	the	the	DET
dad-13359	496	16	second	second	ADJ
dad-13359	496	17	category	category	NOUN
dad-13359	496	18	of	of	ADP
dad-13359	496	19	questions	question	NOUN
dad-13359	496	20	,	,	PUNCT
dad-13359	496	21	thereby	thereby	ADV
dad-13359	496	22	taking	take	VERB
dad-13359	496	23	into	into	ADP
dad-13359	496	24	account	account	NOUN
dad-13359	496	25	temporal	temporal	ADJ
dad-13359	496	26	ordering	ordering	NOUN
dad-13359	496	27	of	of	ADP
dad-13359	496	28	locations	location	NOUN
dad-13359	496	29	or	or	CCONJ
dad-13359	496	30	probability	probability	NOUN
dad-13359	496	31	of	of	ADP
dad-13359	496	32	objects	object	NOUN
dad-13359	496	33	.	.	PUNCT
dad-13359	497	1	answers	answer	NOUN
dad-13359	497	2	to	to	ADP
dad-13359	497	3	indirect	indirect	ADJ
dad-13359	497	4	questions	question	NOUN
dad-13359	497	5	were	be	AUX
dad-13359	497	6	often	often	ADV
dad-13359	497	7	improved	improve	VERB
dad-13359	497	8	in	in	ADP
dad-13359	497	9	this	this	DET
dad-13359	497	10	scenario	scenario	NOUN
dad-13359	497	11	,	,	PUNCT
dad-13359	497	12	as	as	SCONJ
dad-13359	497	13	the	the	DET
dad-13359	497	14	semantic	semantic	ADJ
dad-13359	497	15	triples	triple	NOUN
dad-13359	497	16	model	model	NOUN
dad-13359	497	17	was	be	AUX
dad-13359	497	18	unable	unable	ADJ
dad-13359	497	19	to	to	PART
dad-13359	497	20	make	make	VERB
dad-13359	497	21	use	use	NOUN
dad-13359	497	22	of	of	ADP
dad-13359	497	23	timestamps	timestamp	NOUN
dad-13359	497	24	to	to	PART
dad-13359	497	25	discern	discern	VERB
dad-13359	497	26	the	the	DET
dad-13359	497	27	order	order	NOUN
dad-13359	497	28	of	of	ADP
dad-13359	497	29	events	event	NOUN
dad-13359	497	30	.	.	PUNCT
dad-13359	498	1	this	this	DET
dad-13359	498	2	element	element	NOUN
dad-13359	498	3	of	of	ADP
dad-13359	498	4	information	information	NOUN
dad-13359	498	5	was	be	AUX
dad-13359	498	6	also	also	ADV
dad-13359	498	7	important	important	ADJ
dad-13359	498	8	when	when	SCONJ
dad-13359	498	9	the	the	DET
dad-13359	498	10	model	model	NOUN
dad-13359	498	11	was	be	AUX
dad-13359	498	12	asked	ask	VERB
dad-13359	498	13	about	about	ADP
dad-13359	498	14	distances	distance	NOUN
dad-13359	498	15	travelled	travel	VERB
dad-13359	498	16	,	,	PUNCT
dad-13359	498	17	given	give	VERB
dad-13359	498	18	that	that	SCONJ
dad-13359	498	19	the	the	DET
dad-13359	498	20	information	information	NOUN
dad-13359	498	21	was	be	AUX
dad-13359	498	22	split	split	VERB
dad-13359	498	23	between	between	ADP
dad-13359	498	24	locations	location	NOUN
dad-13359	498	25	.	.	PUNCT
dad-13359	499	1	5.3	5.3	NUM
dad-13359	499	2	comparison	comparison	NOUN
dad-13359	499	3	between	between	ADP
dad-13359	499	4	approaches	approach	NOUN
dad-13359	499	5	a	a	DET
dad-13359	499	6	general	general	ADJ
dad-13359	499	7	benefit	benefit	NOUN
dad-13359	499	8	of	of	ADP
dad-13359	499	9	verbalization	verbalization	NOUN
dad-13359	499	10	compared	compare	VERB
dad-13359	499	11	to	to	ADP
dad-13359	499	12	semantic	semantic	ADJ
dad-13359	499	13	triples	triple	NOUN
dad-13359	499	14	is	be	AUX
dad-13359	499	15	that	that	SCONJ
dad-13359	499	16	the	the	DET
dad-13359	499	17	model	model	NOUN
dad-13359	499	18	has	have	VERB
dad-13359	499	19	access	access	NOUN
dad-13359	499	20	to	to	ADP
dad-13359	499	21	natural	natural	ADJ
dad-13359	499	22	language	language	NOUN
dad-13359	499	23	describing	describe	VERB
dad-13359	499	24	the	the	DET
dad-13359	499	25	observations	observation	NOUN
dad-13359	499	26	that	that	PRON
dad-13359	499	27	it	it	PRON
dad-13359	499	28	can	can	AUX
dad-13359	499	29	directly	directly	ADV
dad-13359	499	30	use	use	VERB
dad-13359	499	31	in	in	ADP
dad-13359	499	32	its	its	PRON
dad-13359	499	33	answers	answer	NOUN
dad-13359	499	34	.	.	PUNCT
dad-13359	500	1	this	this	PRON
dad-13359	500	2	is	be	AUX
dad-13359	500	3	especially	especially	ADV
dad-13359	500	4	evident	evident	ADJ
dad-13359	500	5	in	in	ADP
dad-13359	500	6	the	the	DET
dad-13359	500	7	gpt	gpt	NOUN
dad-13359	500	8	verbal	verbal	PROPN
dad-13359	500	9	model	model	NOUN
dad-13359	500	10	’s	’s	PART
dad-13359	500	11	ability	ability	NOUN
dad-13359	500	12	to	to	PART
dad-13359	500	13	express	express	VERB
dad-13359	500	14	the	the	DET
dad-13359	500	15	likelihood	likelihood	NOUN
dad-13359	500	16	of	of	ADP
dad-13359	500	17	having	having	AUX
dad-13359	500	18	seen	see	VERB
dad-13359	500	19	objects	object	NOUN
dad-13359	500	20	.	.	PUNCT
dad-13359	501	1	while	while	SCONJ
dad-13359	501	2	the	the	DET
dad-13359	501	3	structured	structured	ADJ
dad-13359	501	4	representation	representation	NOUN
dad-13359	501	5	presented	present	VERB
dad-13359	501	6	the	the	DET
dad-13359	501	7	same	same	ADJ
dad-13359	501	8	data	datum	NOUN
dad-13359	501	9	to	to	ADP
dad-13359	501	10	the	the	DET
dad-13359	501	11	model	model	NOUN
dad-13359	501	12	(	(	PUNCT
dad-13359	501	13	and	and	CCONJ
dad-13359	501	14	in	in	ADP
dad-13359	501	15	a	a	DET
dad-13359	501	16	more	more	ADV
dad-13359	501	17	precise	precise	ADJ
dad-13359	501	18	form	form	NOUN
dad-13359	501	19	with	with	ADP
dad-13359	501	20	respect	respect	NOUN
dad-13359	501	21	to	to	ADP
dad-13359	501	22	probabilities	probability	NOUN
dad-13359	501	23	)	)	PUNCT
dad-13359	501	24	,	,	PUNCT
dad-13359	501	25	the	the	DET
dad-13359	501	26	llm	llm	PROPN
dad-13359	501	27	was	be	AUX
dad-13359	501	28	not	not	PART
dad-13359	501	29	able	able	ADJ
dad-13359	501	30	to	to	PART
dad-13359	501	31	effectively	effectively	ADV
dad-13359	501	32	use	use	VERB
dad-13359	501	33	this	this	DET
dad-13359	501	34	aspect	aspect	NOUN
dad-13359	501	35	of	of	ADP
dad-13359	501	36	the	the	DET
dad-13359	501	37	data	datum	NOUN
dad-13359	501	38	.	.	PUNCT
dad-13359	502	1	thus	thus	ADV
dad-13359	502	2	,	,	PUNCT
dad-13359	502	3	verbalization	verbalization	NOUN
dad-13359	502	4	avoids	avoid	VERB
dad-13359	502	5	relying	rely	VERB
dad-13359	502	6	on	on	ADP
dad-13359	502	7	the	the	DET
dad-13359	502	8	model	model	NOUN
dad-13359	502	9	to	to	PART
dad-13359	502	10	make	make	VERB
dad-13359	502	11	logical	logical	ADJ
dad-13359	502	12	inferences	inference	NOUN
dad-13359	502	13	beyond	beyond	ADP
dad-13359	502	14	its	its	PRON
dad-13359	502	15	ordinary	ordinary	ADJ
dad-13359	502	16	capabilities	capability	NOUN
dad-13359	502	17	.	.	PUNCT
dad-13359	503	1	with	with	ADP
dad-13359	503	2	regards	regard	NOUN
dad-13359	503	3	to	to	ADP
dad-13359	503	4	temporal	temporal	ADJ
dad-13359	503	5	data	datum	NOUN
dad-13359	503	6	,	,	PUNCT
dad-13359	503	7	a	a	DET
dad-13359	503	8	verbalized	verbalize	VERB
dad-13359	503	9	form	form	NOUN
dad-13359	503	10	of	of	ADP
dad-13359	503	11	the	the	DET
dad-13359	503	12	information	information	NOUN
dad-13359	503	13	avoids	avoid	VERB
dad-13359	503	14	the	the	DET
dad-13359	503	15	necessity	necessity	NOUN
dad-13359	503	16	of	of	ADP
dad-13359	503	17	the	the	DET
dad-13359	503	18	model	model	NOUN
dad-13359	503	19	estimating	estimate	VERB
dad-13359	503	20	time	time	NOUN
dad-13359	503	21	spans	span	VERB
dad-13359	503	22	across	across	ADP
dad-13359	503	23	disjoint	disjoint	NOUN
dad-13359	503	24	facts	fact	NOUN
dad-13359	503	25	from	from	ADP
dad-13359	503	26	the	the	DET
dad-13359	503	27	graph	graph	NOUN
dad-13359	503	28	.	.	PUNCT
dad-13359	504	1	related	relate	VERB
dad-13359	504	2	to	to	ADP
dad-13359	504	3	this	this	PRON
dad-13359	504	4	,	,	PUNCT
dad-13359	504	5	when	when	SCONJ
dad-13359	504	6	the	the	DET
dad-13359	504	7	probability	probability	NOUN
dad-13359	504	8	of	of	ADP
dad-13359	504	9	the	the	DET
dad-13359	504	10	observation	observation	NOUN
dad-13359	504	11	is	be	AUX
dad-13359	504	12	presented	present	VERB
dad-13359	504	13	to	to	ADP
dad-13359	504	14	the	the	DET
dad-13359	504	15	llm	llm	PROPN
dad-13359	504	16	in	in	ADP
dad-13359	504	17	natural	natural	ADJ
dad-13359	504	18	language	language	NOUN
dad-13359	504	19	,	,	PUNCT
dad-13359	504	20	the	the	DET
dad-13359	504	21	model	model	NOUN
dad-13359	504	22	is	be	AUX
dad-13359	504	23	not	not	PART
dad-13359	504	24	required	require	VERB
dad-13359	504	25	to	to	PART
dad-13359	504	26	translate	translate	VERB
dad-13359	504	27	that	that	SCONJ
dad-13359	504	28	uncertainty	uncertainty	NOUN
dad-13359	504	29	to	to	ADP
dad-13359	504	30	a	a	DET
dad-13359	504	31	specific	specific	ADJ
dad-13359	504	32	linguistic	linguistic	ADJ
dad-13359	504	33	expression	expression	NOUN
dad-13359	504	34	.	.	PUNCT
dad-13359	505	1	this	this	DET
dad-13359	505	2	translation	translation	NOUN
dad-13359	505	3	does	do	AUX
dad-13359	505	4	come	come	VERB
dad-13359	505	5	with	with	ADP
dad-13359	505	6	some	some	DET
dad-13359	505	7	design	design	NOUN
dad-13359	505	8	judgment	judgment	NOUN
dad-13359	505	9	:	:	PUNCT
dad-13359	505	10	specifically	specifically	ADV
dad-13359	505	11	,	,	PUNCT
dad-13359	505	12	what	what	PRON
dad-13359	505	13	is	be	AUX
dad-13359	505	14	considered	consider	VERB
dad-13359	505	15	to	to	PART
dad-13359	505	16	be	be	AUX
dad-13359	505	17	certain	certain	ADJ
dad-13359	505	18	,	,	PUNCT
dad-13359	505	19	likely	likely	ADJ
dad-13359	505	20	,	,	PUNCT
dad-13359	505	21	unlikely	unlikely	ADJ
dad-13359	505	22	,	,	PUNCT
dad-13359	505	23	or	or	CCONJ
dad-13359	505	24	impossible	impossible	ADJ
dad-13359	505	25	?	?	PUNCT
dad-13359	506	1	these	these	DET
dad-13359	506	2	judgments	judgment	NOUN
dad-13359	506	3	do	do	AUX
dad-13359	506	4	however	however	ADV
dad-13359	506	5	allow	allow	VERB
dad-13359	506	6	the	the	DET
dad-13359	506	7	verbalization	verbalization	NOUN
dad-13359	506	8	to	to	PART
dad-13359	506	9	be	be	AUX
dad-13359	506	10	sensitive	sensitive	ADJ
dad-13359	506	11	to	to	ADP
dad-13359	506	12	what	what	PRON
dad-13359	506	13	a	a	DET
dad-13359	506	14	human	human	NOUN
dad-13359	506	15	would	would	AUX
dad-13359	506	16	consider	consider	VERB
dad-13359	506	17	reasonable	reasonable	ADJ
dad-13359	506	18	estimations	estimation	NOUN
dad-13359	506	19	of	of	ADP
dad-13359	506	20	likelihood	likelihood	NOUN
dad-13359	506	21	,	,	PUNCT
dad-13359	506	22	rather	rather	ADV
dad-13359	506	23	than	than	ADP
dad-13359	506	24	relying	rely	VERB
dad-13359	506	25	on	on	ADP
dad-13359	506	26	an	an	DET
dad-13359	506	27	a	a	DET
dad-13359	506	28	priori	priori	ADJ
dad-13359	506	29	estimation	estimation	NOUN
dad-13359	506	30	by	by	ADP
dad-13359	506	31	the	the	DET
dad-13359	506	32	llm	llm	NOUN
dad-13359	506	33	.	.	PUNCT
dad-13359	507	1	another	another	DET
dad-13359	507	2	benefit	benefit	NOUN
dad-13359	507	3	of	of	ADP
dad-13359	507	4	our	our	PRON
dad-13359	507	5	approach	approach	NOUN
dad-13359	507	6	is	be	AUX
dad-13359	507	7	that	that	SCONJ
dad-13359	507	8	the	the	DET
dad-13359	507	9	relation	relation	NOUN
dad-13359	507	10	of	of	ADP
dad-13359	507	11	the	the	DET
dad-13359	507	12	underlying	underlie	VERB
dad-13359	507	13	information	information	NOUN
dad-13359	507	14	to	to	ADP
dad-13359	507	15	the	the	DET
dad-13359	507	16	model	model	NOUN
dad-13359	507	17	prompt	prompt	NOUN
dad-13359	507	18	is	be	AUX
dad-13359	507	19	explicit	explicit	ADJ
dad-13359	507	20	and	and	CCONJ
dad-13359	507	21	human	human	ADJ
dad-13359	507	22	comprehensible	comprehensible	ADJ
dad-13359	507	23	.	.	PUNCT
dad-13359	508	1	common	common	ADJ
dad-13359	508	2	sense	sense	NOUN
dad-13359	508	3	intuitions	intuition	NOUN
dad-13359	508	4	which	which	PRON
dad-13359	508	5	are	be	AUX
dad-13359	508	6	not	not	PART
dad-13359	508	7	easily	easily	ADV
dad-13359	508	8	understood	understand	VERB
dad-13359	508	9	by	by	ADP
dad-13359	508	10	llms	llm	NOUN
dad-13359	508	11	within	within	ADP
dad-13359	508	12	structured	structured	ADJ
dad-13359	508	13	information	information	NOUN
dad-13359	508	14	can	can	AUX
dad-13359	508	15	be	be	AUX
dad-13359	508	16	made	make	VERB
dad-13359	508	17	explicit	explicit	ADJ
dad-13359	508	18	in	in	ADP
dad-13359	508	19	the	the	DET
dad-13359	508	20	process	process	NOUN
dad-13359	508	21	of	of	ADP
dad-13359	508	22	verbalization	verbalization	NOUN
dad-13359	508	23	.	.	PUNCT
dad-13359	509	1	the	the	DET
dad-13359	509	2	advantage	advantage	NOUN
dad-13359	509	3	of	of	ADP
dad-13359	509	4	the	the	DET
dad-13359	509	5	models	model	NOUN
dad-13359	509	6	’	'	PUNCT
dad-13359	509	7	strong	strong	ADJ
dad-13359	509	8	fluidity	fluidity	NOUN
dad-13359	509	9	in	in	ADP
dad-13359	509	10	generating	generating	NOUN
dad-13359	509	11	responses	response	NOUN
dad-13359	509	12	is	be	AUX
dad-13359	509	13	preserved	preserve	VERB
dad-13359	509	14	while	while	SCONJ
dad-13359	509	15	explicitly	explicitly	ADV
dad-13359	509	16	representing	represent	VERB
dad-13359	509	17	factual	factual	ADJ
dad-13359	509	18	information	information	NOUN
dad-13359	509	19	in	in	ADP
dad-13359	509	20	the	the	DET
dad-13359	509	21	state	state	NOUN
dad-13359	509	22	graph	graph	NOUN
dad-13359	509	23	and	and	CCONJ
dad-13359	509	24	thereby	thereby	ADV
dad-13359	509	25	the	the	DET
dad-13359	509	26	verbalized	verbalize	VERB
dad-13359	509	27	graph	graph	NOUN
dad-13359	509	28	document	document	NOUN
dad-13359	509	29	.	.	PUNCT
dad-13359	510	1	83	83	NUM
dad-13359	510	2	walker	walker	PROPN
dad-13359	510	3	,	,	PUNCT
dad-13359	510	4	ultes	ulte	NOUN
dad-13359	510	5	and	and	CCONJ
dad-13359	510	6	lison	lison	NOUN
dad-13359	510	7	errors	error	NOUN
dad-13359	510	8	arising	arise	VERB
dad-13359	510	9	from	from	ADP
dad-13359	510	10	failures	failure	NOUN
dad-13359	510	11	in	in	ADP
dad-13359	510	12	the	the	DET
dad-13359	510	13	underlying	underlie	VERB
dad-13359	510	14	modules	module	NOUN
dad-13359	510	15	are	be	AUX
dad-13359	510	16	explicit	explicit	ADJ
dad-13359	510	17	and	and	CCONJ
dad-13359	510	18	more	more	ADV
dad-13359	510	19	easily	easily	ADV
dad-13359	510	20	uncovered	uncover	VERB
dad-13359	510	21	compared	compare	VERB
dad-13359	510	22	to	to	ADP
dad-13359	510	23	dense	dense	ADJ
dad-13359	510	24	vector	vector	NOUN
dad-13359	510	25	representations	representation	NOUN
dad-13359	510	26	which	which	PRON
dad-13359	510	27	require	require	VERB
dad-13359	510	28	specialized	specialized	ADJ
dad-13359	510	29	methods	method	NOUN
dad-13359	510	30	to	to	PART
dad-13359	510	31	decipher	decipher	PROPN
dad-13359	510	32	.	.	PUNCT
dad-13359	511	1	5.4	5.4	NUM
dad-13359	511	2	non	non	ADJ
dad-13359	511	3	-	-	ADJ
dad-13359	511	4	linguistic	linguistic	ADJ
dad-13359	511	5	knowledge	knowledge	NOUN
dad-13359	511	6	the	the	DET
dad-13359	511	7	reliance	reliance	NOUN
dad-13359	511	8	of	of	ADP
dad-13359	511	9	the	the	DET
dad-13359	511	10	proposed	propose	VERB
dad-13359	511	11	approach	approach	NOUN
dad-13359	511	12	on	on	ADP
dad-13359	511	13	verbalized	verbalize	VERB
dad-13359	511	14	knowledge	knowledge	NOUN
dad-13359	511	15	can	can	AUX
dad-13359	511	16	make	make	VERB
dad-13359	511	17	the	the	DET
dad-13359	511	18	model	model	NOUN
dad-13359	511	19	oblivious	oblivious	ADJ
dad-13359	511	20	to	to	PART
dad-13359	511	21	content	content	VERB
dad-13359	511	22	that	that	PRON
dad-13359	511	23	is	be	AUX
dad-13359	511	24	not	not	PART
dad-13359	511	25	easily	easily	ADV
dad-13359	511	26	expressed	express	VERB
dad-13359	511	27	in	in	ADP
dad-13359	511	28	a	a	DET
dad-13359	511	29	sentence	sentence	NOUN
dad-13359	511	30	.	.	PUNCT
dad-13359	512	1	paralinguistic	paralinguistic	ADJ
dad-13359	512	2	signals	signal	NOUN
dad-13359	512	3	(	(	PUNCT
dad-13359	512	4	schuller	schuller	PROPN
dad-13359	512	5	et	et	PROPN
dad-13359	512	6	al	al	PROPN
dad-13359	512	7	.	.	PROPN
dad-13359	512	8	,	,	PUNCT
dad-13359	512	9	2013	2013	NUM
dad-13359	512	10	)	)	PUNCT
dad-13359	512	11	such	such	ADJ
dad-13359	512	12	as	as	ADP
dad-13359	512	13	body	body	NOUN
dad-13359	512	14	language	language	NOUN
dad-13359	512	15	,	,	PUNCT
dad-13359	512	16	facial	facial	ADJ
dad-13359	512	17	expressions	expression	NOUN
dad-13359	512	18	or	or	CCONJ
dad-13359	512	19	intonation	intonation	NOUN
dad-13359	512	20	are	be	AUX
dad-13359	512	21	all	all	PRON
dad-13359	512	22	crucial	crucial	ADJ
dad-13359	512	23	elements	element	NOUN
dad-13359	512	24	of	of	ADP
dad-13359	512	25	communication	communication	NOUN
dad-13359	512	26	which	which	PRON
dad-13359	512	27	are	be	AUX
dad-13359	512	28	not	not	PART
dad-13359	512	29	readily	readily	ADV
dad-13359	512	30	represented	represent	VERB
dad-13359	512	31	in	in	ADP
dad-13359	512	32	text	text	NOUN
dad-13359	512	33	.	.	PUNCT
dad-13359	513	1	other	other	ADJ
dad-13359	513	2	information	information	NOUN
dad-13359	513	3	like	like	ADP
dad-13359	513	4	physical	physical	ADJ
dad-13359	513	5	feedback	feedback	NOUN
dad-13359	513	6	in	in	ADP
dad-13359	513	7	a	a	DET
dad-13359	513	8	robotic	robotic	ADJ
dad-13359	513	9	agent	agent	NOUN
dad-13359	513	10	’s	’s	PART
dad-13359	513	11	components	component	NOUN
dad-13359	513	12	may	may	AUX
dad-13359	513	13	also	also	ADV
dad-13359	513	14	not	not	PART
dad-13359	513	15	be	be	AUX
dad-13359	513	16	readily	readily	ADV
dad-13359	513	17	represented	represent	VERB
dad-13359	513	18	.	.	PUNCT
dad-13359	514	1	lacking	lack	VERB
dad-13359	514	2	verbalization	verbalization	NOUN
dad-13359	514	3	,	,	PUNCT
dad-13359	514	4	integrating	integrate	VERB
dad-13359	514	5	these	these	DET
dad-13359	514	6	information	information	NOUN
dad-13359	514	7	sources	source	NOUN
dad-13359	514	8	with	with	ADP
dad-13359	514	9	llms	llm	NOUN
dad-13359	514	10	will	will	AUX
dad-13359	514	11	likely	likely	ADV
dad-13359	514	12	remain	remain	VERB
dad-13359	514	13	challenging	challenge	VERB
dad-13359	514	14	in	in	ADP
dad-13359	514	15	the	the	DET
dad-13359	514	16	future	future	NOUN
dad-13359	514	17	.	.	PUNCT
dad-13359	515	1	additionally	additionally	ADV
dad-13359	515	2	,	,	PUNCT
dad-13359	515	3	possible	possible	ADJ
dad-13359	515	4	transformations	transformation	NOUN
dad-13359	515	5	of	of	ADP
dad-13359	515	6	the	the	DET
dad-13359	515	7	dialogue	dialogue	NOUN
dad-13359	515	8	state	state	NOUN
dad-13359	515	9	information	information	NOUN
dad-13359	515	10	might	might	AUX
dad-13359	515	11	incorporate	incorporate	VERB
dad-13359	515	12	function	function	NOUN
dad-13359	515	13	calls	call	NOUN
dad-13359	515	14	,	,	PUNCT
dad-13359	515	15	logical	logical	ADJ
dad-13359	515	16	rule	rule	NOUN
dad-13359	515	17	inference	inference	NOUN
dad-13359	515	18	,	,	PUNCT
dad-13359	515	19	and	and	CCONJ
dad-13359	515	20	other	other	ADJ
dad-13359	515	21	methods	method	NOUN
dad-13359	515	22	to	to	PART
dad-13359	515	23	allow	allow	VERB
dad-13359	515	24	elements	element	NOUN
dad-13359	515	25	of	of	ADP
dad-13359	515	26	dialogue	dialogue	NOUN
dad-13359	515	27	state	state	NOUN
dad-13359	515	28	triples	triple	NOUN
dad-13359	515	29	to	to	PART
dad-13359	515	30	be	be	AUX
dad-13359	515	31	reformatted	reformatte	VERB
dad-13359	515	32	to	to	PART
dad-13359	515	33	assist	assist	VERB
dad-13359	515	34	the	the	DET
dad-13359	515	35	llm	llm	NOUN
dad-13359	515	36	.	.	PUNCT
dad-13359	516	1	for	for	ADP
dad-13359	516	2	instance	instance	NOUN
dad-13359	516	3	,	,	PUNCT
dad-13359	516	4	the	the	DET
dad-13359	516	5	chronological	chronological	ADJ
dad-13359	516	6	elements	element	NOUN
dad-13359	516	7	might	might	AUX
dad-13359	516	8	be	be	AUX
dad-13359	516	9	summarized	summarize	VERB
dad-13359	516	10	by	by	ADP
dad-13359	516	11	a	a	DET
dad-13359	516	12	function	function	NOUN
dad-13359	516	13	,	,	PUNCT
dad-13359	516	14	and	and	CCONJ
dad-13359	516	15	then	then	ADV
dad-13359	516	16	either	either	CCONJ
dad-13359	516	17	ordered	order	VERB
dad-13359	516	18	in	in	ADP
dad-13359	516	19	a	a	DET
dad-13359	516	20	triples	triple	NOUN
dad-13359	516	21	model	model	NOUN
dad-13359	516	22	or	or	CCONJ
dad-13359	516	23	used	use	VERB
dad-13359	516	24	as	as	ADP
dad-13359	516	25	a	a	DET
dad-13359	516	26	starting	starting	NOUN
dad-13359	516	27	point	point	NOUN
dad-13359	516	28	for	for	ADP
dad-13359	516	29	our	our	PRON
dad-13359	516	30	verbalization	verbalization	NOUN
dad-13359	516	31	function	function	NOUN
dad-13359	516	32	.	.	PUNCT
dad-13359	517	1	5.5	5.5	NUM
dad-13359	517	2	limitations	limitation	NOUN
dad-13359	517	3	of	of	ADP
dad-13359	517	4	the	the	DET
dad-13359	517	5	experimental	experimental	ADJ
dad-13359	517	6	study	study	NOUN
dad-13359	517	7	regarding	regard	VERB
dad-13359	517	8	the	the	DET
dad-13359	517	9	scope	scope	NOUN
dad-13359	517	10	of	of	ADP
dad-13359	517	11	this	this	DET
dad-13359	517	12	study	study	NOUN
dad-13359	517	13	,	,	PUNCT
dad-13359	517	14	some	some	DET
dad-13359	517	15	limitations	limitation	NOUN
dad-13359	517	16	must	must	AUX
dad-13359	517	17	be	be	AUX
dad-13359	517	18	observed	observe	VERB
dad-13359	517	19	.	.	PUNCT
dad-13359	518	1	first	first	ADV
dad-13359	518	2	,	,	PUNCT
dad-13359	518	3	the	the	DET
dad-13359	518	4	diversity	diversity	NOUN
dad-13359	518	5	of	of	ADP
dad-13359	518	6	the	the	DET
dad-13359	518	7	study	study	NOUN
dad-13359	518	8	participants	participant	NOUN
dad-13359	518	9	was	be	AUX
dad-13359	518	10	limited	limit	VERB
dad-13359	518	11	to	to	ADP
dad-13359	518	12	local	local	ADJ
dad-13359	518	13	researchers	researcher	NOUN
dad-13359	518	14	and	and	CCONJ
dad-13359	518	15	students	student	NOUN
dad-13359	518	16	.	.	PUNCT
dad-13359	519	1	another	another	DET
dad-13359	519	2	limitation	limitation	NOUN
dad-13359	519	3	with	with	ADP
dad-13359	519	4	respect	respect	NOUN
dad-13359	519	5	to	to	ADP
dad-13359	519	6	experiment	experiment	NOUN
dad-13359	519	7	participants	participant	NOUN
dad-13359	519	8	is	be	AUX
dad-13359	519	9	that	that	SCONJ
dad-13359	519	10	most	most	ADJ
dad-13359	519	11	participants	participant	NOUN
dad-13359	519	12	were	be	AUX
dad-13359	519	13	not	not	PART
dad-13359	519	14	native	native	ADJ
dad-13359	519	15	english	english	ADJ
dad-13359	519	16	speakers	speaker	NOUN
dad-13359	519	17	.	.	PUNCT
dad-13359	520	1	additionally	additionally	ADV
dad-13359	520	2	,	,	PUNCT
dad-13359	520	3	many	many	ADJ
dad-13359	520	4	local	local	ADJ
dad-13359	520	5	place	place	NOUN
dad-13359	520	6	names	name	NOUN
dad-13359	520	7	were	be	AUX
dad-13359	520	8	norwegian	norwegian	ADJ
dad-13359	520	9	and	and	CCONJ
dad-13359	520	10	thus	thus	ADV
dad-13359	520	11	difficult	difficult	ADJ
dad-13359	520	12	for	for	SCONJ
dad-13359	520	13	an	an	DET
dad-13359	520	14	english	english	ADJ
dad-13359	520	15	asr	asr	NOUN
dad-13359	520	16	system	system	NOUN
dad-13359	520	17	to	to	PART
dad-13359	520	18	accurately	accurately	ADV
dad-13359	520	19	recognize	recognize	VERB
dad-13359	520	20	.	.	PUNCT
dad-13359	521	1	both	both	DET
dad-13359	521	2	factors	factor	NOUN
dad-13359	521	3	led	lead	VERB
dad-13359	521	4	to	to	ADP
dad-13359	521	5	various	various	ADJ
dad-13359	521	6	transcription	transcription	NOUN
dad-13359	521	7	errors	error	NOUN
dad-13359	521	8	that	that	PRON
dad-13359	521	9	likely	likely	ADV
dad-13359	521	10	affected	affect	VERB
dad-13359	521	11	perceptions	perception	NOUN
dad-13359	521	12	of	of	ADP
dad-13359	521	13	model	model	NOUN
dad-13359	521	14	performance	performance	NOUN
dad-13359	521	15	.	.	PUNCT
dad-13359	522	1	further	further	ADJ
dad-13359	522	2	study	study	NOUN
dad-13359	522	3	in	in	ADP
dad-13359	522	4	different	different	ADJ
dad-13359	522	5	populations	population	NOUN
dad-13359	522	6	and	and	CCONJ
dad-13359	522	7	specifically	specifically	ADV
dad-13359	522	8	with	with	ADP
dad-13359	522	9	native	native	ADJ
dad-13359	522	10	english	english	ADJ
dad-13359	522	11	speakers	speaker	NOUN
dad-13359	522	12	would	would	AUX
dad-13359	522	13	be	be	AUX
dad-13359	522	14	a	a	DET
dad-13359	522	15	warranted	warrant	VERB
dad-13359	522	16	follow	follow	NOUN
dad-13359	522	17	-	-	PUNCT
dad-13359	522	18	up	up	NOUN
dad-13359	522	19	to	to	ADP
dad-13359	522	20	our	our	PRON
dad-13359	522	21	experiments	experiment	NOUN
dad-13359	522	22	to	to	PART
dad-13359	522	23	evaluate	evaluate	VERB
dad-13359	522	24	the	the	DET
dad-13359	522	25	approach	approach	NOUN
dad-13359	522	26	in	in	ADP
dad-13359	522	27	broader	broad	ADJ
dad-13359	522	28	audiences	audience	NOUN
dad-13359	522	29	.	.	PUNCT
dad-13359	523	1	a	a	DET
dad-13359	523	2	further	further	ADJ
dad-13359	523	3	limitation	limitation	NOUN
dad-13359	523	4	of	of	ADP
dad-13359	523	5	the	the	DET
dad-13359	523	6	experimental	experimental	ADJ
dad-13359	523	7	setup	setup	NOUN
dad-13359	523	8	is	be	AUX
dad-13359	523	9	the	the	DET
dad-13359	523	10	comparative	comparative	ADJ
dad-13359	523	11	simplicity	simplicity	NOUN
dad-13359	523	12	of	of	ADP
dad-13359	523	13	the	the	DET
dad-13359	523	14	vqa	vqa	PROPN
dad-13359	523	15	model	model	NOUN
dad-13359	523	16	.	.	PUNCT
dad-13359	524	1	the	the	DET
dad-13359	524	2	visual	visual	ADJ
dad-13359	524	3	module	module	NOUN
dad-13359	524	4	did	do	AUX
dad-13359	524	5	not	not	PART
dad-13359	524	6	distinguish	distinguish	VERB
dad-13359	524	7	between	between	ADP
dad-13359	524	8	distinct	distinct	ADJ
dad-13359	524	9	entities	entity	NOUN
dad-13359	524	10	of	of	ADP
dad-13359	524	11	a	a	DET
dad-13359	524	12	single	single	ADJ
dad-13359	524	13	type	type	NOUN
dad-13359	524	14	in	in	ADP
dad-13359	524	15	a	a	DET
dad-13359	524	16	labeled	label	VERB
dad-13359	524	17	area	area	NOUN
dad-13359	524	18	,	,	PUNCT
dad-13359	524	19	merely	merely	ADV
dad-13359	524	20	whether	whether	SCONJ
dad-13359	524	21	one	one	NUM
dad-13359	524	22	was	be	AUX
dad-13359	524	23	present	present	ADJ
dad-13359	524	24	.	.	PUNCT
dad-13359	525	1	this	this	DET
dad-13359	525	2	setup	setup	NOUN
dad-13359	525	3	avoided	avoid	VERB
dad-13359	525	4	complex	complex	ADJ
dad-13359	525	5	failures	failure	NOUN
dad-13359	525	6	arising	arise	VERB
dad-13359	525	7	from	from	ADP
dad-13359	525	8	difficulties	difficulty	NOUN
dad-13359	525	9	of	of	ADP
dad-13359	525	10	segmenting	segment	VERB
dad-13359	525	11	objects	object	NOUN
dad-13359	525	12	such	such	ADJ
dad-13359	525	13	as	as	ADP
dad-13359	525	14	chairs	chair	NOUN
dad-13359	525	15	,	,	PUNCT
dad-13359	525	16	yet	yet	CCONJ
dad-13359	525	17	participants	participant	NOUN
dad-13359	525	18	were	be	AUX
dad-13359	525	19	often	often	ADV
dad-13359	525	20	interested	interested	ADJ
dad-13359	525	21	in	in	ADP
dad-13359	525	22	the	the	DET
dad-13359	525	23	number	number	NOUN
dad-13359	525	24	of	of	ADP
dad-13359	525	25	one	one	NUM
dad-13359	525	26	kind	kind	NOUN
dad-13359	525	27	of	of	ADP
dad-13359	525	28	entity	entity	NOUN
dad-13359	525	29	in	in	ADP
dad-13359	525	30	an	an	DET
dad-13359	525	31	area	area	NOUN
dad-13359	525	32	.	.	PUNCT
dad-13359	526	1	moreover	moreover	ADV
dad-13359	526	2	,	,	PUNCT
dad-13359	526	3	the	the	DET
dad-13359	526	4	vqa	vqa	PROPN
dad-13359	526	5	model	model	NOUN
dad-13359	526	6	only	only	ADV
dad-13359	526	7	distinguished	distinguished	ADJ
dad-13359	526	8	entities	entity	NOUN
dad-13359	526	9	defined	define	VERB
dad-13359	526	10	from	from	ADP
dad-13359	526	11	the	the	DET
dad-13359	526	12	outset	outset	NOUN
dad-13359	526	13	.	.	PUNCT
dad-13359	527	1	while	while	SCONJ
dad-13359	527	2	this	this	PRON
dad-13359	527	3	allowed	allow	VERB
dad-13359	527	4	for	for	ADP
dad-13359	527	5	a	a	DET
dad-13359	527	6	more	more	ADV
dad-13359	527	7	well	well	ADV
dad-13359	527	8	-	-	PUNCT
dad-13359	527	9	defined	define	VERB
dad-13359	527	10	set	set	NOUN
dad-13359	527	11	of	of	ADP
dad-13359	527	12	entities	entity	NOUN
dad-13359	527	13	of	of	ADP
dad-13359	527	14	interest	interest	NOUN
dad-13359	527	15	in	in	ADP
dad-13359	527	16	an	an	DET
dad-13359	527	17	office	office	NOUN
dad-13359	527	18	environment	environment	NOUN
dad-13359	527	19	,	,	PUNCT
dad-13359	527	20	it	it	PRON
dad-13359	527	21	limited	limit	VERB
dad-13359	527	22	the	the	DET
dad-13359	527	23	more	more	ADV
dad-13359	527	24	creative	creative	ADJ
dad-13359	527	25	or	or	CCONJ
dad-13359	527	26	unusual	unusual	ADJ
dad-13359	527	27	possibilities	possibility	NOUN
dad-13359	527	28	for	for	ADP
dad-13359	527	29	objects	object	NOUN
dad-13359	527	30	participants	participant	NOUN
dad-13359	527	31	might	might	AUX
dad-13359	527	32	ask	ask	VERB
dad-13359	527	33	about	about	ADP
dad-13359	527	34	from	from	ADP
dad-13359	527	35	the	the	DET
dad-13359	527	36	tour	tour	NOUN
dad-13359	527	37	.	.	PUNCT
dad-13359	528	1	some	some	DET
dad-13359	528	2	questions	question	NOUN
dad-13359	528	3	from	from	ADP
dad-13359	528	4	the	the	DET
dad-13359	528	5	participants	participant	NOUN
dad-13359	528	6	focused	focus	VERB
dad-13359	528	7	on	on	ADP
dad-13359	528	8	the	the	DET
dad-13359	528	9	number	number	NOUN
dad-13359	528	10	of	of	ADP
dad-13359	528	11	a	a	DET
dad-13359	528	12	particular	particular	ADJ
dad-13359	528	13	item	item	NOUN
dad-13359	528	14	seen	see	VERB
dad-13359	528	15	in	in	ADP
dad-13359	528	16	the	the	DET
dad-13359	528	17	tour	tour	NOUN
dad-13359	528	18	despite	despite	SCONJ
dad-13359	528	19	instruction	instruction	NOUN
dad-13359	528	20	that	that	SCONJ
dad-13359	528	21	this	this	DET
dad-13359	528	22	information	information	NOUN
dad-13359	528	23	was	be	AUX
dad-13359	528	24	not	not	PART
dad-13359	528	25	available	available	ADJ
dad-13359	528	26	to	to	ADP
dad-13359	528	27	the	the	DET
dad-13359	528	28	robot	robot	NOUN
dad-13359	528	29	.	.	PUNCT
dad-13359	529	1	lastly	lastly	ADV
dad-13359	529	2	,	,	PUNCT
dad-13359	529	3	a	a	DET
dad-13359	529	4	more	more	ADV
dad-13359	529	5	sophisticated	sophisticated	ADJ
dad-13359	529	6	vqa	vqa	NOUN
dad-13359	529	7	model	model	NOUN
dad-13359	529	8	may	may	AUX
dad-13359	529	9	have	have	AUX
dad-13359	529	10	been	be	AUX
dad-13359	529	11	able	able	ADJ
dad-13359	529	12	to	to	PART
dad-13359	529	13	determine	determine	VERB
dad-13359	529	14	spatial	spatial	ADJ
dad-13359	529	15	relationships	relationship	NOUN
dad-13359	529	16	between	between	ADP
dad-13359	529	17	entities	entity	NOUN
dad-13359	529	18	themselves	themselves	PRON
dad-13359	529	19	in	in	ADP
dad-13359	529	20	a	a	DET
dad-13359	529	21	given	give	VERB
dad-13359	529	22	room	room	NOUN
dad-13359	529	23	.	.	PUNCT
dad-13359	530	1	doing	do	VERB
dad-13359	530	2	so	so	ADV
dad-13359	530	3	would	would	AUX
dad-13359	530	4	require	require	VERB
dad-13359	530	5	estimation	estimation	NOUN
dad-13359	530	6	of	of	ADP
dad-13359	530	7	the	the	DET
dad-13359	530	8	robot	robot	NOUN
dad-13359	530	9	’s	’s	PART
dad-13359	530	10	field	field	NOUN
dad-13359	530	11	of	of	ADP
dad-13359	530	12	view	view	NOUN
dad-13359	530	13	and	and	CCONJ
dad-13359	530	14	position	position	NOUN
dad-13359	530	15	within	within	ADP
dad-13359	530	16	the	the	DET
dad-13359	530	17	room	room	NOUN
dad-13359	530	18	.	.	PUNCT
dad-13359	531	1	when	when	SCONJ
dad-13359	531	2	an	an	DET
dad-13359	531	3	object	object	NOUN
dad-13359	531	4	was	be	AUX
dad-13359	531	5	observed	observe	VERB
dad-13359	531	6	at	at	ADP
dad-13359	531	7	the	the	DET
dad-13359	531	8	transition	transition	NOUN
dad-13359	531	9	point	point	NOUN
dad-13359	531	10	between	between	ADP
dad-13359	531	11	two	two	NUM
dad-13359	531	12	rooms	room	NOUN
dad-13359	531	13	,	,	PUNCT
dad-13359	531	14	before	before	SCONJ
dad-13359	531	15	and	and	CCONJ
dad-13359	531	16	after	after	SCONJ
dad-13359	531	17	the	the	DET
dad-13359	531	18	user	user	NOUN
dad-13359	531	19	provided	provide	VERB
dad-13359	531	20	a	a	DET
dad-13359	531	21	label	label	NOUN
dad-13359	531	22	,	,	PUNCT
dad-13359	531	23	any	any	DET
dad-13359	531	24	objects	object	NOUN
dad-13359	531	25	in	in	ADP
dad-13359	531	26	the	the	DET
dad-13359	531	27	robot	robot	NOUN
dad-13359	531	28	’s	’s	PART
dad-13359	531	29	field	field	NOUN
dad-13359	531	30	of	of	ADP
dad-13359	531	31	view	view	NOUN
dad-13359	531	32	could	could	AUX
dad-13359	531	33	be	be	AUX
dad-13359	531	34	attributed	attribute	VERB
dad-13359	531	35	to	to	ADP
dad-13359	531	36	both	both	DET
dad-13359	531	37	locations	location	NOUN
dad-13359	531	38	.	.	PUNCT
dad-13359	532	1	in	in	ADP
dad-13359	532	2	several	several	ADJ
dad-13359	532	3	instances	instance	NOUN
dad-13359	532	4	this	this	PRON
dad-13359	532	5	led	lead	VERB
dad-13359	532	6	to	to	ADP
dad-13359	532	7	an	an	DET
dad-13359	532	8	apparent	apparent	ADJ
dad-13359	532	9	error	error	NOUN
dad-13359	532	10	of	of	ADP
dad-13359	532	11	the	the	DET
dad-13359	532	12	model	model	NOUN
dad-13359	532	13	stating	state	VERB
dad-13359	532	14	an	an	DET
dad-13359	532	15	object	object	NOUN
dad-13359	532	16	as	as	ADP
dad-13359	532	17	having	having	AUX
dad-13359	532	18	been	be	AUX
dad-13359	532	19	observed	observe	VERB
dad-13359	532	20	in	in	ADP
dad-13359	532	21	a	a	DET
dad-13359	532	22	room	room	NOUN
dad-13359	532	23	when	when	SCONJ
dad-13359	532	24	it	it	PRON
dad-13359	532	25	was	be	AUX
dad-13359	532	26	seen	see	VERB
dad-13359	532	27	at	at	ADP
dad-13359	532	28	the	the	DET
dad-13359	532	29	end	end	NOUN
dad-13359	532	30	of	of	ADP
dad-13359	532	31	its	its	PRON
dad-13359	532	32	path	path	NOUN
dad-13359	532	33	in	in	ADP
dad-13359	532	34	that	that	DET
dad-13359	532	35	area	area	NOUN
dad-13359	532	36	.	.	PUNCT
dad-13359	533	1	our	our	PRON
dad-13359	533	2	study	study	NOUN
dad-13359	533	3	did	do	AUX
dad-13359	533	4	not	not	PART
dad-13359	533	5	incorporate	incorporate	VERB
dad-13359	533	6	verbal	verbal	ADJ
dad-13359	533	7	commands	command	NOUN
dad-13359	533	8	to	to	ADP
dad-13359	533	9	the	the	DET
dad-13359	533	10	robot	robot	NOUN
dad-13359	533	11	for	for	ADP
dad-13359	533	12	movement	movement	NOUN
dad-13359	533	13	.	.	PUNCT
dad-13359	534	1	this	this	DET
dad-13359	534	2	choice	choice	NOUN
dad-13359	534	3	was	be	AUX
dad-13359	534	4	made	make	VERB
dad-13359	534	5	to	to	PART
dad-13359	534	6	facilitate	facilitate	VERB
dad-13359	534	7	the	the	DET
dad-13359	534	8	execution	execution	NOUN
dad-13359	534	9	of	of	ADP
dad-13359	534	10	the	the	DET
dad-13359	534	11	office	office	NOUN
dad-13359	534	12	tour	tour	NOUN
dad-13359	534	13	.	.	PUNCT
dad-13359	535	1	additionally	additionally	ADV
dad-13359	535	2	,	,	PUNCT
dad-13359	535	3	the	the	DET
dad-13359	535	4	robot	robot	NOUN
dad-13359	535	5	also	also	ADV
dad-13359	535	6	suffers	suffer	VERB
dad-13359	535	7	from	from	ADP
dad-13359	535	8	substantial	substantial	ADJ
dad-13359	535	9	odometry	odometry	NOUN
dad-13359	535	10	drift	drift	NOUN
dad-13359	535	11	,	,	PUNCT
dad-13359	535	12	transformations	transformation	NOUN
dad-13359	535	13	of	of	ADP
dad-13359	535	14	spatial	spatial	ADJ
dad-13359	535	15	data	datum	NOUN
dad-13359	535	16	such	such	ADJ
dad-13359	535	17	as	as	ADP
dad-13359	535	18	plotting	plot	VERB
dad-13359	535	19	the	the	DET
dad-13359	535	20	robot	robot	NOUN
dad-13359	535	21	path	path	NOUN
dad-13359	535	22	in	in	ADP
dad-13359	535	23	a	a	DET
dad-13359	535	24	building	building	NOUN
dad-13359	535	25	map	map	NOUN
dad-13359	535	26	were	be	AUX
dad-13359	535	27	not	not	PART
dad-13359	535	28	possible	possible	ADJ
dad-13359	535	29	.	.	PUNCT
dad-13359	536	1	future	future	ADJ
dad-13359	536	2	work	work	NOUN
dad-13359	536	3	might	might	AUX
dad-13359	536	4	use	use	VERB
dad-13359	536	5	more	more	ADV
dad-13359	536	6	precise	precise	ADJ
dad-13359	536	7	measurements	measurement	NOUN
dad-13359	536	8	of	of	ADP
dad-13359	536	9	the	the	DET
dad-13359	536	10	robot	robot	NOUN
dad-13359	536	11	’s	’s	PART
dad-13359	536	12	position	position	NOUN
dad-13359	536	13	and	and	CCONJ
dad-13359	536	14	84	84	NUM
dad-13359	536	15	a	a	DET
dad-13359	536	16	graph	graph	NOUN
dad-13359	536	17	-	-	PUNCT
dad-13359	536	18	to	to	ADP
dad-13359	536	19	-	-	PUNCT
dad-13359	536	20	text	text	NOUN
dad-13359	536	21	approach	approach	NOUN
dad-13359	536	22	to	to	ADP
dad-13359	536	23	knowledge	knowledge	NOUN
dad-13359	536	24	-	-	PUNCT
dad-13359	536	25	grounded	ground	VERB
dad-13359	536	26	response	response	NOUN
dad-13359	536	27	generation	generation	NOUN
dad-13359	536	28	in	in	ADP
dad-13359	536	29	hri	hri	PROPN
dad-13359	536	30	integrate	integrate	VERB
dad-13359	536	31	verbal	verbal	ADJ
dad-13359	536	32	commands	command	NOUN
dad-13359	536	33	for	for	ADP
dad-13359	536	34	movement	movement	NOUN
dad-13359	536	35	to	to	ADP
dad-13359	536	36	the	the	DET
dad-13359	536	37	robot	robot	NOUN
dad-13359	536	38	.	.	PUNCT
dad-13359	537	1	lastly	lastly	ADV
dad-13359	537	2	,	,	PUNCT
dad-13359	537	3	continuous	continuous	ADJ
dad-13359	537	4	input	input	NOUN
dad-13359	537	5	of	of	ADP
dad-13359	537	6	audio	audio	ADJ
dad-13359	537	7	data	datum	NOUN
dad-13359	537	8	to	to	ADP
dad-13359	537	9	the	the	DET
dad-13359	537	10	model	model	NOUN
dad-13359	537	11	instead	instead	ADV
dad-13359	537	12	of	of	ADP
dad-13359	537	13	relying	rely	VERB
dad-13359	537	14	on	on	ADP
dad-13359	537	15	an	an	DET
dad-13359	537	16	external	external	ADJ
dad-13359	537	17	cue	cue	NOUN
dad-13359	537	18	to	to	PART
dad-13359	537	19	begin	begin	VERB
dad-13359	537	20	speech	speech	NOUN
dad-13359	537	21	recognition	recognition	NOUN
dad-13359	537	22	is	be	AUX
dad-13359	537	23	possible	possible	ADJ
dad-13359	537	24	.	.	PUNCT
dad-13359	538	1	6	6	X
dad-13359	538	2	.	.	X
dad-13359	538	3	conclusion	conclusion	NOUN
dad-13359	538	4	in	in	ADP
dad-13359	538	5	this	this	DET
dad-13359	538	6	work	work	NOUN
dad-13359	538	7	,	,	PUNCT
dad-13359	538	8	we	we	PRON
dad-13359	538	9	have	have	AUX
dad-13359	538	10	presented	present	VERB
dad-13359	538	11	a	a	DET
dad-13359	538	12	model	model	NOUN
dad-13359	538	13	of	of	ADP
dad-13359	538	14	response	response	NOUN
dad-13359	538	15	generation	generation	NOUN
dad-13359	538	16	in	in	ADP
dad-13359	538	17	human	human	ADJ
dad-13359	538	18	-	-	PUNCT
dad-13359	538	19	robot	robot	NOUN
dad-13359	538	20	interaction	interaction	NOUN
dad-13359	538	21	where	where	SCONJ
dad-13359	538	22	situated	situate	VERB
dad-13359	538	23	,	,	PUNCT
dad-13359	538	24	dialogue	dialogue	NOUN
dad-13359	538	25	-	-	PUNCT
dad-13359	538	26	specific	specific	ADJ
dad-13359	538	27	data	datum	NOUN
dad-13359	538	28	is	be	AUX
dad-13359	538	29	represented	represent	VERB
dad-13359	538	30	with	with	ADP
dad-13359	538	31	a	a	DET
dad-13359	538	32	graph	graph	NOUN
dad-13359	538	33	.	.	PUNCT
dad-13359	539	1	as	as	SCONJ
dad-13359	539	2	discussed	discuss	VERB
dad-13359	539	3	in	in	ADP
dad-13359	539	4	the	the	DET
dad-13359	539	5	preliminaries	preliminary	NOUN
dad-13359	539	6	,	,	PUNCT
dad-13359	539	7	graphs	graph	NOUN
dad-13359	539	8	present	present	ADJ
dad-13359	539	9	a	a	DET
dad-13359	539	10	number	number	NOUN
dad-13359	539	11	of	of	ADP
dad-13359	539	12	beneficial	beneficial	ADJ
dad-13359	539	13	attributes	attribute	NOUN
dad-13359	539	14	that	that	PRON
dad-13359	539	15	are	be	AUX
dad-13359	539	16	useful	useful	ADJ
dad-13359	539	17	for	for	ADP
dad-13359	539	18	representing	represent	VERB
dad-13359	539	19	these	these	DET
dad-13359	539	20	kinds	kind	NOUN
dad-13359	539	21	of	of	ADP
dad-13359	539	22	information	information	NOUN
dad-13359	539	23	.	.	PUNCT
dad-13359	540	1	namely	namely	ADV
dad-13359	540	2	,	,	PUNCT
dad-13359	540	3	dialogue	dialogue	NOUN
dad-13359	540	4	systems	system	NOUN
dad-13359	540	5	benefit	benefit	VERB
dad-13359	540	6	from	from	ADP
dad-13359	540	7	the	the	DET
dad-13359	540	8	ability	ability	NOUN
dad-13359	540	9	to	to	PART
dad-13359	540	10	represent	represent	VERB
dad-13359	540	11	diverse	diverse	ADJ
dad-13359	540	12	types	type	NOUN
dad-13359	540	13	of	of	ADP
dad-13359	540	14	information	information	NOUN
dad-13359	540	15	in	in	ADP
dad-13359	540	16	the	the	DET
dad-13359	540	17	same	same	ADJ
dad-13359	540	18	structure	structure	NOUN
dad-13359	540	19	along	along	ADP
dad-13359	540	20	with	with	ADP
dad-13359	540	21	semantic	semantic	ADJ
dad-13359	540	22	relationships	relationship	NOUN
dad-13359	540	23	between	between	ADP
dad-13359	540	24	them	they	PRON
dad-13359	540	25	.	.	PUNCT
dad-13359	541	1	this	this	DET
dad-13359	541	2	structure	structure	NOUN
dad-13359	541	3	also	also	ADV
dad-13359	541	4	allows	allow	VERB
dad-13359	541	5	for	for	ADP
dad-13359	541	6	flexible	flexible	ADJ
dad-13359	541	7	and	and	CCONJ
dad-13359	541	8	effective	effective	ADJ
dad-13359	541	9	transformation	transformation	NOUN
dad-13359	541	10	to	to	ADP
dad-13359	541	11	natural	natural	ADJ
dad-13359	541	12	language	language	NOUN
dad-13359	541	13	that	that	PRON
dad-13359	541	14	expresses	express	VERB
dad-13359	541	15	common	common	ADJ
dad-13359	541	16	sense	sense	NOUN
dad-13359	541	17	intuitions	intuition	NOUN
dad-13359	541	18	about	about	ADP
dad-13359	541	19	structured	structured	ADJ
dad-13359	541	20	data	datum	NOUN
dad-13359	541	21	.	.	PUNCT
dad-13359	542	1	importantly	importantly	ADV
dad-13359	542	2	for	for	ADP
dad-13359	542	3	embodied	embodied	ADJ
dad-13359	542	4	agents	agent	NOUN
dad-13359	542	5	,	,	PUNCT
dad-13359	542	6	a	a	DET
dad-13359	542	7	dynamic	dynamic	ADJ
dad-13359	542	8	knowledge	knowledge	NOUN
dad-13359	542	9	graph	graph	NOUN
dad-13359	542	10	can	can	AUX
dad-13359	542	11	be	be	AUX
dad-13359	542	12	continuously	continuously	ADV
dad-13359	542	13	updated	update	VERB
dad-13359	542	14	in	in	ADP
dad-13359	542	15	response	response	NOUN
dad-13359	542	16	to	to	ADP
dad-13359	542	17	real	real	ADJ
dad-13359	542	18	-	-	PUNCT
dad-13359	542	19	time	time	NOUN
dad-13359	542	20	information	information	NOUN
dad-13359	542	21	.	.	PUNCT
dad-13359	543	1	using	use	VERB
dad-13359	543	2	these	these	DET
dad-13359	543	3	attributes	attribute	NOUN
dad-13359	543	4	,	,	PUNCT
dad-13359	543	5	we	we	PRON
dad-13359	543	6	presented	present	VERB
dad-13359	543	7	a	a	DET
dad-13359	543	8	model	model	NOUN
dad-13359	543	9	which	which	PRON
dad-13359	543	10	represents	represent	VERB
dad-13359	543	11	a	a	DET
dad-13359	543	12	dialogue	dialogue	NOUN
dad-13359	543	13	state	state	NOUN
dad-13359	543	14	of	of	ADP
dad-13359	543	15	diverse	diverse	ADJ
dad-13359	543	16	and	and	CCONJ
dad-13359	543	17	continuously	continuously	ADV
dad-13359	543	18	changing	change	VERB
dad-13359	543	19	information	information	NOUN
dad-13359	543	20	about	about	ADP
dad-13359	543	21	the	the	DET
dad-13359	543	22	physical	physical	ADJ
dad-13359	543	23	world	world	NOUN
dad-13359	543	24	as	as	ADP
dad-13359	543	25	graph	graph	NOUN
dad-13359	543	26	of	of	ADP
dad-13359	543	27	visual	visual	ADJ
dad-13359	543	28	,	,	PUNCT
dad-13359	543	29	spatial	spatial	ADJ
dad-13359	543	30	,	,	PUNCT
dad-13359	543	31	and	and	CCONJ
dad-13359	543	32	natural	natural	ADJ
dad-13359	543	33	language	language	NOUN
dad-13359	543	34	data	datum	NOUN
dad-13359	543	35	with	with	ADP
dad-13359	543	36	temporal	temporal	ADJ
dad-13359	543	37	and	and	CCONJ
dad-13359	543	38	probabilistic	probabilistic	ADJ
dad-13359	543	39	attributes	attribute	NOUN
dad-13359	543	40	.	.	PUNCT
dad-13359	544	1	the	the	DET
dad-13359	544	2	information	information	NOUN
dad-13359	544	3	in	in	ADP
dad-13359	544	4	this	this	DET
dad-13359	544	5	graph	graph	NOUN
dad-13359	544	6	is	be	AUX
dad-13359	544	7	converted	convert	VERB
dad-13359	544	8	to	to	ADP
dad-13359	544	9	natural	natural	ADJ
dad-13359	544	10	language	language	NOUN
dad-13359	544	11	descriptions	description	NOUN
dad-13359	544	12	for	for	ADP
dad-13359	544	13	use	use	NOUN
dad-13359	544	14	by	by	ADP
dad-13359	544	15	large	large	ADJ
dad-13359	544	16	-	-	PUNCT
dad-13359	544	17	language	language	NOUN
dad-13359	544	18	models	model	NOUN
dad-13359	544	19	.	.	PUNCT
dad-13359	545	1	to	to	PART
dad-13359	545	2	do	do	VERB
dad-13359	545	3	so	so	ADV
dad-13359	545	4	,	,	PUNCT
dad-13359	545	5	a	a	DET
dad-13359	545	6	simple	simple	ADJ
dad-13359	545	7	parameterized	parameterized	ADJ
dad-13359	545	8	function	function	NOUN
dad-13359	545	9	converts	convert	NOUN
dad-13359	545	10	paths	path	NOUN
dad-13359	545	11	within	within	ADP
dad-13359	545	12	the	the	DET
dad-13359	545	13	graph	graph	NOUN
dad-13359	545	14	to	to	ADP
dad-13359	545	15	sentences	sentence	NOUN
dad-13359	545	16	describing	describe	VERB
dad-13359	545	17	the	the	DET
dad-13359	545	18	semantics	semantic	NOUN
dad-13359	545	19	of	of	ADP
dad-13359	545	20	the	the	DET
dad-13359	545	21	relations	relation	NOUN
dad-13359	545	22	described	describe	VERB
dad-13359	545	23	by	by	ADP
dad-13359	545	24	the	the	DET
dad-13359	545	25	path	path	NOUN
dad-13359	545	26	.	.	PUNCT
dad-13359	546	1	this	this	DET
dad-13359	546	2	function	function	NOUN
dad-13359	546	3	is	be	AUX
dad-13359	546	4	optimized	optimize	VERB
dad-13359	546	5	in	in	ADP
dad-13359	546	6	a	a	DET
dad-13359	546	7	few	few	ADJ
dad-13359	546	8	-	-	PUNCT
dad-13359	546	9	shot	shot	NOUN
dad-13359	546	10	learning	learn	VERB
dad-13359	546	11	approach	approach	NOUN
dad-13359	546	12	on	on	ADP
dad-13359	546	13	manually	manually	ADV
dad-13359	546	14	annotated	annotate	VERB
dad-13359	546	15	data	datum	NOUN
dad-13359	546	16	.	.	PUNCT
dad-13359	547	1	to	to	PART
dad-13359	547	2	assess	assess	VERB
dad-13359	547	3	the	the	DET
dad-13359	547	4	benefit	benefit	NOUN
dad-13359	547	5	of	of	ADP
dad-13359	547	6	this	this	DET
dad-13359	547	7	approach	approach	NOUN
dad-13359	547	8	,	,	PUNCT
dad-13359	547	9	we	we	PRON
dad-13359	547	10	have	have	AUX
dad-13359	547	11	also	also	ADV
dad-13359	547	12	presented	present	VERB
dad-13359	547	13	a	a	DET
dad-13359	547	14	study	study	NOUN
dad-13359	547	15	in	in	ADP
dad-13359	547	16	human	human	ADJ
dad-13359	547	17	-	-	PUNCT
dad-13359	547	18	robot	robot	NOUN
dad-13359	547	19	interaction	interaction	NOUN
dad-13359	547	20	where	where	SCONJ
dad-13359	547	21	the	the	DET
dad-13359	547	22	robot	robot	NOUN
dad-13359	547	23	responses	response	NOUN
dad-13359	547	24	are	be	AUX
dad-13359	547	25	generated	generate	VERB
dad-13359	547	26	with	with	ADP
dad-13359	547	27	an	an	DET
dad-13359	547	28	llm	llm	NOUN
dad-13359	547	29	based	base	VERB
dad-13359	547	30	on	on	ADP
dad-13359	547	31	a	a	DET
dad-13359	547	32	prompt	prompt	NOUN
dad-13359	547	33	that	that	PRON
dad-13359	547	34	includes	include	VERB
dad-13359	547	35	a	a	DET
dad-13359	547	36	verbalized	verbalize	VERB
dad-13359	547	37	representation	representation	NOUN
dad-13359	547	38	of	of	ADP
dad-13359	547	39	the	the	DET
dad-13359	547	40	graph	graph	NOUN
dad-13359	547	41	.	.	PUNCT
dad-13359	548	1	this	this	DET
dad-13359	548	2	study	study	NOUN
dad-13359	548	3	consisted	consist	VERB
dad-13359	548	4	of	of	ADP
dad-13359	548	5	users	user	NOUN
dad-13359	548	6	taking	take	VERB
dad-13359	548	7	a	a	DET
dad-13359	548	8	robot	robot	NOUN
dad-13359	548	9	for	for	ADP
dad-13359	548	10	a	a	DET
dad-13359	548	11	tour	tour	NOUN
dad-13359	548	12	of	of	ADP
dad-13359	548	13	an	an	DET
dad-13359	548	14	office	office	NOUN
dad-13359	548	15	environment	environment	NOUN
dad-13359	548	16	and	and	CCONJ
dad-13359	548	17	subsequently	subsequently	ADV
dad-13359	548	18	discussing	discuss	VERB
dad-13359	548	19	the	the	DET
dad-13359	548	20	tour	tour	NOUN
dad-13359	548	21	with	with	ADP
dad-13359	548	22	the	the	DET
dad-13359	548	23	robot	robot	NOUN
dad-13359	548	24	.	.	PUNCT
dad-13359	549	1	the	the	DET
dad-13359	549	2	users	user	NOUN
dad-13359	549	3	then	then	ADV
dad-13359	549	4	rated	rate	VERB
dad-13359	549	5	the	the	DET
dad-13359	549	6	robot	robot	NOUN
dad-13359	549	7	’s	’s	PART
dad-13359	549	8	ability	ability	NOUN
dad-13359	549	9	to	to	PART
dad-13359	549	10	accurately	accurately	ADV
dad-13359	549	11	,	,	PUNCT
dad-13359	549	12	concisely	concisely	ADV
dad-13359	549	13	,	,	PUNCT
dad-13359	549	14	and	and	CCONJ
dad-13359	549	15	naturally	naturally	ADV
dad-13359	549	16	summarize	summarize	VERB
dad-13359	549	17	the	the	DET
dad-13359	549	18	tour	tour	NOUN
dad-13359	549	19	.	.	PUNCT
dad-13359	550	1	for	for	ADP
dad-13359	550	2	each	each	DET
dad-13359	550	3	dialogue	dialogue	NOUN
dad-13359	550	4	,	,	PUNCT
dad-13359	550	5	the	the	DET
dad-13359	550	6	robot	robot	NOUN
dad-13359	550	7	made	make	VERB
dad-13359	550	8	use	use	NOUN
dad-13359	550	9	of	of	ADP
dad-13359	550	10	two	two	NUM
dad-13359	550	11	llms	llm	NOUN
dad-13359	550	12	,	,	PUNCT
dad-13359	550	13	namely	namely	ADV
dad-13359	550	14	gpt-4	gpt-4	PUNCT
dad-13359	550	15	and	and	CCONJ
dad-13359	550	16	llama	llama	NOUN
dad-13359	550	17	.	.	PUNCT
dad-13359	551	1	for	for	ADP
dad-13359	551	2	the	the	DET
dad-13359	551	3	llama	llama	PROPN
dad-13359	551	4	model	model	NOUN
dad-13359	551	5	and	and	CCONJ
dad-13359	551	6	one	one	NUM
dad-13359	551	7	version	version	NOUN
dad-13359	551	8	of	of	ADP
dad-13359	551	9	gpt-4	gpt-4	NOUN
dad-13359	551	10	,	,	PUNCT
dad-13359	551	11	the	the	DET
dad-13359	551	12	graph	graph	NOUN
dad-13359	551	13	information	information	NOUN
dad-13359	551	14	was	be	AUX
dad-13359	551	15	presented	present	VERB
dad-13359	551	16	to	to	ADP
dad-13359	551	17	the	the	DET
dad-13359	551	18	llm	llm	PROPN
dad-13359	551	19	as	as	SCONJ
dad-13359	551	20	verbalized	verbalize	VERB
dad-13359	551	21	form	form	NOUN
dad-13359	551	22	of	of	ADP
dad-13359	551	23	the	the	DET
dad-13359	551	24	dialogue	dialogue	NOUN
dad-13359	551	25	state	state	NOUN
dad-13359	551	26	graph	graph	NOUN
dad-13359	551	27	.	.	PUNCT
dad-13359	552	1	while	while	SCONJ
dad-13359	552	2	llms	llm	NOUN
dad-13359	552	3	can	can	AUX
dad-13359	552	4	make	make	VERB
dad-13359	552	5	use	use	NOUN
dad-13359	552	6	of	of	ADP
dad-13359	552	7	diversely	diversely	ADV
dad-13359	552	8	formatted	format	VERB
dad-13359	552	9	text	text	NOUN
dad-13359	552	10	,	,	PUNCT
dad-13359	552	11	our	our	PRON
dad-13359	552	12	study	study	NOUN
dad-13359	552	13	indicates	indicate	VERB
dad-13359	552	14	that	that	SCONJ
dad-13359	552	15	the	the	DET
dad-13359	552	16	gpt-4	gpt-4	ADJ
dad-13359	552	17	model	model	NOUN
dad-13359	552	18	likely	likely	ADV
dad-13359	552	19	has	have	AUX
dad-13359	552	20	improved	improve	VERB
dad-13359	552	21	ability	ability	NOUN
dad-13359	552	22	to	to	PART
dad-13359	552	23	respond	respond	VERB
dad-13359	552	24	factually	factually	ADV
dad-13359	552	25	when	when	SCONJ
dad-13359	552	26	presented	present	VERB
dad-13359	552	27	data	datum	NOUN
dad-13359	552	28	as	as	ADP
dad-13359	552	29	a	a	DET
dad-13359	552	30	natural	natural	ADJ
dad-13359	552	31	language	language	NOUN
dad-13359	552	32	document	document	NOUN
dad-13359	552	33	describing	describe	VERB
dad-13359	552	34	the	the	DET
dad-13359	552	35	graph	graph	NOUN
dad-13359	552	36	information	information	NOUN
dad-13359	552	37	recorded	record	VERB
dad-13359	552	38	in	in	ADP
dad-13359	552	39	the	the	DET
dad-13359	552	40	graph	graph	NOUN
dad-13359	552	41	.	.	PUNCT
dad-13359	553	1	while	while	SCONJ
dad-13359	553	2	a	a	DET
dad-13359	553	3	number	number	NOUN
dad-13359	553	4	of	of	ADP
dad-13359	553	5	limitations	limitation	NOUN
dad-13359	553	6	exist	exist	VERB
dad-13359	553	7	within	within	ADP
dad-13359	553	8	our	our	PRON
dad-13359	553	9	study	study	NOUN
dad-13359	553	10	,	,	PUNCT
dad-13359	553	11	the	the	DET
dad-13359	553	12	simplicity	simplicity	NOUN
dad-13359	553	13	of	of	ADP
dad-13359	553	14	the	the	DET
dad-13359	553	15	conversion	conversion	NOUN
dad-13359	553	16	from	from	ADP
dad-13359	553	17	graph	graph	NOUN
dad-13359	553	18	to	to	ADP
dad-13359	553	19	natural	natural	ADJ
dad-13359	553	20	language	language	NOUN
dad-13359	553	21	allows	allow	VERB
dad-13359	553	22	for	for	ADP
dad-13359	553	23	the	the	DET
dad-13359	553	24	expression	expression	NOUN
dad-13359	553	25	of	of	ADP
dad-13359	553	26	relations	relation	NOUN
dad-13359	553	27	between	between	ADP
dad-13359	553	28	multimodal	multimodal	NOUN
dad-13359	553	29	data	datum	NOUN
dad-13359	553	30	in	in	ADP
dad-13359	553	31	an	an	DET
dad-13359	553	32	intuitively	intuitively	ADV
dad-13359	553	33	useful	useful	ADJ
dad-13359	553	34	way	way	NOUN
dad-13359	553	35	for	for	ADP
dad-13359	553	36	llm	llm	NOUN
dad-13359	553	37	-	-	PUNCT
dad-13359	553	38	based	base	VERB
dad-13359	553	39	response	response	NOUN
dad-13359	553	40	generation	generation	NOUN
dad-13359	553	41	,	,	PUNCT
dad-13359	553	42	perhaps	perhaps	ADV
dad-13359	553	43	particularly	particularly	ADV
dad-13359	553	44	in	in	ADP
dad-13359	553	45	hri	hri	PROPN
dad-13359	553	46	settings	setting	NOUN
dad-13359	553	47	where	where	SCONJ
dad-13359	553	48	in	in	ADP
dad-13359	553	49	-	-	PUNCT
dad-13359	553	50	domain	domain	NOUN
dad-13359	553	51	data	datum	NOUN
dad-13359	553	52	is	be	AUX
dad-13359	553	53	scarce	scarce	ADJ
dad-13359	553	54	and	and	CCONJ
dad-13359	553	55	expensive	expensive	ADJ
dad-13359	553	56	to	to	PART
dad-13359	553	57	acquire	acquire	VERB
dad-13359	553	58	.	.	PUNCT
dad-13359	554	1	the	the	DET
dad-13359	554	2	impact	impact	NOUN
dad-13359	554	3	of	of	ADP
dad-13359	554	4	differing	differ	VERB
dad-13359	554	5	graph	graph	NOUN
dad-13359	554	6	verbalization	verbalization	NOUN
dad-13359	554	7	strategies	strategy	NOUN
dad-13359	554	8	also	also	ADV
dad-13359	554	9	likely	likely	ADV
dad-13359	554	10	warrants	warrant	NOUN
dad-13359	554	11	further	far	ADV
dad-13359	554	12	study	study	NOUN
dad-13359	554	13	,	,	PUNCT
dad-13359	554	14	as	as	SCONJ
dad-13359	554	15	graph	graph	NOUN
dad-13359	554	16	structures	structure	NOUN
dad-13359	554	17	and	and	CCONJ
dad-13359	554	18	attributes	attribute	NOUN
dad-13359	554	19	can	can	AUX
dad-13359	554	20	be	be	AUX
dad-13359	554	21	verbalized	verbalize	VERB
dad-13359	554	22	in	in	ADP
dad-13359	554	23	diverse	diverse	ADJ
dad-13359	554	24	ways	way	NOUN
dad-13359	554	25	.	.	PUNCT
dad-13359	555	1	a	a	DET
dad-13359	555	2	promising	promising	ADJ
dad-13359	555	3	area	area	NOUN
dad-13359	555	4	for	for	ADP
dad-13359	555	5	future	future	ADJ
dad-13359	555	6	work	work	NOUN
dad-13359	555	7	is	be	AUX
dad-13359	555	8	to	to	PART
dad-13359	555	9	determine	determine	VERB
dad-13359	555	10	which	which	DET
dad-13359	555	11	translations	translation	NOUN
dad-13359	555	12	to	to	ADP
dad-13359	555	13	surface	surface	NOUN
dad-13359	555	14	forms	form	NOUN
dad-13359	555	15	produce	produce	VERB
dad-13359	555	16	the	the	DET
dad-13359	555	17	best	good	ADJ
dad-13359	555	18	performance	performance	NOUN
dad-13359	555	19	improvements	improvement	NOUN
dad-13359	555	20	in	in	ADP
dad-13359	555	21	downstream	downstream	ADJ
dad-13359	555	22	llms	llm	NOUN
dad-13359	555	23	.	.	PUNCT
dad-13359	556	1	these	these	DET
dad-13359	556	2	performance	performance	NOUN
dad-13359	556	3	gains	gain	NOUN
dad-13359	556	4	may	may	AUX
dad-13359	556	5	also	also	ADV
dad-13359	556	6	depend	depend	VERB
dad-13359	556	7	upon	upon	SCONJ
dad-13359	556	8	the	the	DET
dad-13359	556	9	performance	performance	NOUN
dad-13359	556	10	of	of	ADP
dad-13359	556	11	underlying	underlie	VERB
dad-13359	556	12	modules	module	NOUN
dad-13359	556	13	such	such	ADJ
dad-13359	556	14	as	as	ADP
dad-13359	556	15	visual	visual	ADJ
dad-13359	556	16	-	-	PUNCT
dad-13359	556	17	question	question	NOUN
dad-13359	556	18	answering	answering	NOUN
dad-13359	556	19	models	model	NOUN
dad-13359	556	20	and	and	CCONJ
dad-13359	556	21	robot	robot	NOUN
dad-13359	556	22	sensors	sensor	NOUN
dad-13359	556	23	.	.	PUNCT
dad-13359	557	1	different	different	ADJ
dad-13359	557	2	choices	choice	NOUN
dad-13359	557	3	of	of	ADP
dad-13359	557	4	embodied	embodied	ADJ
dad-13359	557	5	agents	agent	NOUN
dad-13359	557	6	and	and	CCONJ
dad-13359	557	7	physical	physical	ADJ
dad-13359	557	8	sensors	sensor	NOUN
dad-13359	557	9	may	may	AUX
dad-13359	557	10	allow	allow	VERB
dad-13359	557	11	for	for	ADP
dad-13359	557	12	a	a	DET
dad-13359	557	13	more	more	ADV
dad-13359	557	14	precise	precise	ADJ
dad-13359	557	15	and	and	CCONJ
dad-13359	557	16	wider	wide	ADJ
dad-13359	557	17	variety	variety	NOUN
dad-13359	557	18	of	of	ADP
dad-13359	557	19	information	information	NOUN
dad-13359	557	20	to	to	PART
dad-13359	557	21	verbalize	verbalize	VERB
dad-13359	557	22	.	.	PUNCT
dad-13359	558	1	longer	long	ADJ
dad-13359	558	2	explorations	exploration	NOUN
dad-13359	558	3	of	of	ADP
dad-13359	558	4	the	the	DET
dad-13359	558	5	environment	environment	NOUN
dad-13359	558	6	or	or	CCONJ
dad-13359	558	7	more	more	ADV
dad-13359	558	8	finegrained	finegraine	VERB
dad-13359	558	9	sensory	sensory	ADJ
dad-13359	558	10	information	information	NOUN
dad-13359	558	11	may	may	AUX
dad-13359	558	12	require	require	VERB
dad-13359	558	13	the	the	DET
dad-13359	558	14	incorporation	incorporation	NOUN
dad-13359	558	15	of	of	ADP
dad-13359	558	16	notions	notion	NOUN
dad-13359	558	17	of	of	ADP
dad-13359	558	18	relevance	relevance	NOUN
dad-13359	558	19	in	in	ADP
dad-13359	558	20	order	order	NOUN
dad-13359	558	21	to	to	PART
dad-13359	558	22	reduce	reduce	VERB
dad-13359	558	23	the	the	DET
dad-13359	558	24	amount	amount	NOUN
dad-13359	558	25	of	of	ADP
dad-13359	558	26	information	information	NOUN
dad-13359	558	27	presented	present	VERB
dad-13359	558	28	to	to	ADP
dad-13359	558	29	the	the	DET
dad-13359	558	30	llm	llm	NOUN
dad-13359	558	31	.	.	PUNCT
dad-13359	559	1	only	only	ADV
dad-13359	559	2	a	a	DET
dad-13359	559	3	small	small	ADJ
dad-13359	559	4	part	part	NOUN
dad-13359	559	5	of	of	ADP
dad-13359	559	6	the	the	DET
dad-13359	559	7	knowledge	knowledge	NOUN
dad-13359	559	8	graph	graph	NOUN
dad-13359	559	9	may	may	AUX
dad-13359	559	10	be	be	AUX
dad-13359	559	11	necessary	necessary	ADJ
dad-13359	559	12	to	to	PART
dad-13359	559	13	generate	generate	VERB
dad-13359	559	14	a	a	DET
dad-13359	559	15	response	response	NOUN
dad-13359	559	16	.	.	PUNCT
dad-13359	560	1	retrieval	retrieval	NOUN
dad-13359	560	2	-	-	PUNCT
dad-13359	560	3	based	base	VERB
dad-13359	560	4	generation	generation	NOUN
dad-13359	560	5	(	(	PUNCT
dad-13359	560	6	lewis	lewis	PROPN
dad-13359	560	7	et	et	PROPN
dad-13359	560	8	al	al	PROPN
dad-13359	560	9	.	.	PROPN
dad-13359	560	10	,	,	PUNCT
dad-13359	560	11	2020	2020	NUM
dad-13359	560	12	;	;	PUNCT
dad-13359	560	13	li	li	PROPN
dad-13359	560	14	et	et	PROPN
dad-13359	560	15	al	al	PROPN
dad-13359	560	16	.	.	PROPN
dad-13359	560	17	,	,	PUNCT
dad-13359	560	18	2022a	2022a	NUM
dad-13359	560	19	;	;	PUNCT
dad-13359	560	20	walker	walker	PROPN
dad-13359	560	21	et	et	PROPN
dad-13359	560	22	al	al	PROPN
dad-13359	560	23	.	.	PROPN
dad-13359	560	24	,	,	PUNCT
dad-13359	560	25	2023	2023	NUM
dad-13359	560	26	)	)	PUNCT
dad-13359	560	27	would	would	AUX
dad-13359	560	28	enable	enable	VERB
dad-13359	560	29	a	a	DET
dad-13359	560	30	contextualized	contextualized	ADJ
dad-13359	560	31	verbalization	verbalization	NOUN
dad-13359	560	32	of	of	ADP
dad-13359	560	33	the	the	DET
dad-13359	560	34	graph	graph	NOUN
dad-13359	560	35	,	,	PUNCT
dad-13359	560	36	where	where	SCONJ
dad-13359	560	37	only	only	ADV
dad-13359	560	38	the	the	DET
dad-13359	560	39	most	most	ADV
dad-13359	560	40	relevant	relevant	ADJ
dad-13359	560	41	parts	part	NOUN
dad-13359	560	42	of	of	ADP
dad-13359	560	43	the	the	DET
dad-13359	560	44	graph	graph	NOUN
dad-13359	560	45	are	be	AUX
dad-13359	560	46	retrieved	retrieve	VERB
dad-13359	560	47	and	and	CCONJ
dad-13359	560	48	included	include	VERB
dad-13359	560	49	in	in	ADP
dad-13359	560	50	the	the	DET
dad-13359	560	51	input	input	NOUN
dad-13359	560	52	to	to	ADP
dad-13359	560	53	the	the	DET
dad-13359	560	54	llm	llm	PROPN
dad-13359	560	55	response	response	NOUN
dad-13359	560	56	generator	generator	PROPN
dad-13359	560	57	.	.	PUNCT
dad-13359	561	1	85	85	NUM
dad-13359	561	2	walker	walker	PROPN
dad-13359	561	3	,	,	PUNCT
dad-13359	561	4	ultes	ulte	NOUN
dad-13359	561	5	and	and	CCONJ
dad-13359	561	6	lison	lison	NOUN
dad-13359	561	7	references	reference	NOUN
dad-13359	561	8	michael	michael	PROPN
dad-13359	561	9	ahn	ahn	PROPN
dad-13359	561	10	,	,	PUNCT
dad-13359	561	11	anthony	anthony	PROPN
dad-13359	561	12	brohan	brohan	PROPN
dad-13359	561	13	,	,	PUNCT
dad-13359	561	14	noah	noah	PROPN
dad-13359	561	15	brown	brown	PROPN
dad-13359	561	16	,	,	PUNCT
dad-13359	561	17	yevgen	yevgen	PROPN
dad-13359	561	18	chebotar	chebotar	PROPN
dad-13359	561	19	,	,	PUNCT
dad-13359	561	20	omar	omar	PROPN
dad-13359	561	21	cortes	cortes	PROPN
dad-13359	561	22	,	,	PUNCT
dad-13359	561	23	byron	byron	PROPN
dad-13359	561	24	david	david	PROPN
dad-13359	561	25	,	,	PUNCT
dad-13359	561	26	chelsea	chelsea	PROPN
dad-13359	561	27	finn	finn	PROPN
dad-13359	561	28	,	,	PUNCT
dad-13359	561	29	chuyuan	chuyuan	PROPN
dad-13359	561	30	fu	fu	PROPN
dad-13359	561	31	,	,	PUNCT
dad-13359	561	32	keerthana	keerthana	PROPN
dad-13359	561	33	gopalakrishnan	gopalakrishnan	PROPN
dad-13359	561	34	,	,	PUNCT
dad-13359	561	35	karol	karol	PROPN
dad-13359	561	36	hausman	hausman	PROPN
dad-13359	561	37	,	,	PUNCT
dad-13359	561	38	et	et	PROPN
dad-13359	561	39	al	al	PROPN
dad-13359	561	40	.	.	PROPN
dad-13359	561	41	do	do	VERB
dad-13359	561	42	as	as	SCONJ
dad-13359	561	43	i	i	PRON
dad-13359	561	44	can	can	AUX
dad-13359	561	45	,	,	PUNCT
dad-13359	561	46	not	not	PART
dad-13359	561	47	as	as	SCONJ
dad-13359	561	48	i	i	PRON
dad-13359	561	49	say	say	VERB
dad-13359	561	50	:	:	PUNCT
dad-13359	561	51	grounding	ground	VERB
dad-13359	561	52	language	language	NOUN
dad-13359	561	53	in	in	ADP
dad-13359	561	54	robotic	robotic	ADJ
dad-13359	561	55	affordances	affordance	NOUN
dad-13359	561	56	.	.	PUNCT
dad-13359	562	1	arxiv	arxiv	PROPN
dad-13359	562	2	preprint	preprint	PROPN
dad-13359	562	3	arxiv:2204.01691	arxiv:2204.01691	PROPN
dad-13359	562	4	,	,	PUNCT
dad-13359	562	5	2022	2022	NUM
dad-13359	562	6	.	.	PUNCT
dad-13359	563	1	url	url	PROPN
dad-13359	563	2	https://arxiv.org/pdf/2204.01691	https://arxiv.org/pdf/2204.01691	PROPN
dad-13359	563	3	.	.	PUNCT
dad-13359	564	1	takuya	takuya	PROPN
dad-13359	564	2	akiba	akiba	PROPN
dad-13359	564	3	,	,	PUNCT
dad-13359	564	4	shotaro	shotaro	PROPN
dad-13359	564	5	sano	sano	PROPN
dad-13359	564	6	,	,	PUNCT
dad-13359	564	7	toshihiko	toshihiko	NOUN
dad-13359	564	8	yanase	yanase	NOUN
dad-13359	564	9	,	,	PUNCT
dad-13359	564	10	takeru	takeru	PROPN
dad-13359	564	11	ohta	ohta	VERB
dad-13359	564	12	,	,	PUNCT
dad-13359	564	13	and	and	CCONJ
dad-13359	564	14	masanori	masanori	ADP
dad-13359	564	15	koyama	koyama	PROPN
dad-13359	564	16	.	.	PUNCT
dad-13359	565	1	optuna	optuna	NOUN
dad-13359	565	2	:	:	PUNCT
dad-13359	565	3	a	a	DET
dad-13359	565	4	next	next	ADJ
dad-13359	565	5	-	-	PUNCT
dad-13359	565	6	generation	generation	NOUN
dad-13359	565	7	hyperparameter	hyperparameter	NOUN
dad-13359	565	8	optimization	optimization	NOUN
dad-13359	565	9	framework	framework	NOUN
dad-13359	565	10	.	.	PUNCT
dad-13359	566	1	in	in	ADP
dad-13359	566	2	proceedings	proceeding	NOUN
dad-13359	566	3	of	of	ADP
dad-13359	566	4	the	the	DET
dad-13359	566	5	25th	25th	ADJ
dad-13359	566	6	acm	acm	PROPN
dad-13359	566	7	sigkdd	sigkdd	NOUN
dad-13359	566	8	international	international	ADJ
dad-13359	566	9	conference	conference	NOUN
dad-13359	566	10	on	on	ADP
dad-13359	566	11	knowledge	knowledge	NOUN
dad-13359	566	12	discovery	discovery	PROPN
dad-13359	566	13	and	and	CCONJ
dad-13359	566	14	data	datum	NOUN
dad-13359	566	15	mining	mining	NOUN
dad-13359	566	16	,	,	PUNCT
dad-13359	566	17	2019	2019	NUM
dad-13359	566	18	.	.	PUNCT
dad-13359	566	19	url	url	PROPN
dad-13359	566	20	https://dl.acm.org/doi/10.1145/3292500.3330701	https://dl.acm.org/doi/10.1145/3292500.3330701	PROPN
dad-13359	566	21	.	.	PUNCT
dad-13359	566	22	jean	jean	PROPN
dad-13359	566	23	-	-	PUNCT
dad-13359	566	24	baptiste	baptiste	PROPN
dad-13359	566	25	alayrac	alayrac	NOUN
dad-13359	566	26	,	,	PUNCT
dad-13359	566	27	jeff	jeff	PROPN
dad-13359	566	28	donahue	donahue	PROPN
dad-13359	566	29	,	,	PUNCT
dad-13359	566	30	pauline	pauline	PROPN
dad-13359	566	31	luc	luc	PROPN
dad-13359	566	32	,	,	PUNCT
dad-13359	566	33	antoine	antoine	PROPN
dad-13359	566	34	miech	miech	PROPN
dad-13359	566	35	,	,	PUNCT
dad-13359	566	36	iain	iain	PROPN
dad-13359	566	37	barr	barr	PROPN
dad-13359	566	38	,	,	PUNCT
dad-13359	566	39	yana	yana	PROPN
dad-13359	566	40	hasson	hasson	PROPN
dad-13359	566	41	,	,	PUNCT
dad-13359	566	42	karel	karel	PROPN
dad-13359	566	43	lenc	lenc	PROPN
dad-13359	566	44	,	,	PUNCT
dad-13359	566	45	arthur	arthur	PROPN
dad-13359	566	46	mensch	mensch	PROPN
dad-13359	566	47	,	,	PUNCT
dad-13359	566	48	katherine	katherine	PROPN
dad-13359	566	49	millican	millican	PROPN
dad-13359	566	50	,	,	PUNCT
dad-13359	566	51	malcolm	malcolm	PROPN
dad-13359	566	52	reynolds	reynolds	PROPN
dad-13359	566	53	,	,	PUNCT
dad-13359	566	54	et	et	PROPN
dad-13359	566	55	al	al	PROPN
dad-13359	566	56	.	.	PUNCT
dad-13359	566	57	flamingo	flamingo	PROPN
dad-13359	566	58	:	:	PUNCT
dad-13359	566	59	a	a	DET
dad-13359	566	60	visual	visual	ADJ
dad-13359	566	61	language	language	NOUN
dad-13359	566	62	model	model	NOUN
dad-13359	566	63	for	for	ADP
dad-13359	566	64	few	few	ADJ
dad-13359	566	65	-	-	PUNCT
dad-13359	566	66	shot	shot	NOUN
dad-13359	566	67	learning	learning	NOUN
dad-13359	566	68	.	.	PUNCT
dad-13359	567	1	advances	advance	NOUN
dad-13359	567	2	in	in	ADP
dad-13359	567	3	neural	neural	ADJ
dad-13359	567	4	information	information	NOUN
dad-13359	567	5	processing	processing	NOUN
dad-13359	567	6	systems	system	NOUN
dad-13359	567	7	,	,	PUNCT
dad-13359	567	8	35:23716	35:23716	NUM
dad-13359	567	9	–	–	PUNCT
dad-13359	567	10	23736	23736	NUM
dad-13359	567	11	,	,	PUNCT
dad-13359	567	12	2022	2022	NUM
dad-13359	567	13	.	.	PUNCT
dad-13359	568	1	url	url	PROPN
dad-13359	568	2	https://proceedings.neurips.cc/paper_files/paper/	https://proceedings.neurips.cc/paper_files/paper/	PROPN
dad-13359	568	3	2022	2022	NUM
dad-13359	568	4	/	/	SYM
dad-13359	568	5	file/960a172bc7fbf0177ccccbb411a7d800	file/960a172bc7fbf0177ccccbb411a7d800	NOUN
dad-13359	568	6	-	-	PUNCT
dad-13359	568	7	paper	paper	NOUN
dad-13359	568	8	-	-	PUNCT
dad-13359	568	9	conference.pdf	conference.pdf	NOUN
dad-13359	568	10	.	.	PUNCT
dad-13359	568	11	uri	uri	PROPN
dad-13359	568	12	alon	alon	PROPN
dad-13359	568	13	and	and	CCONJ
dad-13359	568	14	eran	eran	PROPN
dad-13359	568	15	yahav	yahav	PROPN
dad-13359	568	16	.	.	PUNCT
dad-13359	569	1	on	on	ADP
dad-13359	569	2	the	the	DET
dad-13359	569	3	bottleneck	bottleneck	NOUN
dad-13359	569	4	of	of	ADP
dad-13359	569	5	graph	graph	NOUN
dad-13359	569	6	neural	neural	ADJ
dad-13359	569	7	networks	network	NOUN
dad-13359	569	8	and	and	CCONJ
dad-13359	569	9	its	its	PRON
dad-13359	569	10	practical	practical	ADJ
dad-13359	569	11	implications	implication	NOUN
dad-13359	569	12	.	.	PUNCT
dad-13359	570	1	arxiv	arxiv	PROPN
dad-13359	570	2	preprint	preprint	PROPN
dad-13359	570	3	arxiv:2006.05205	arxiv:2006.05205	PROPN
dad-13359	570	4	,	,	PUNCT
dad-13359	570	5	2020	2020	NUM
dad-13359	570	6	.	.	PUNCT
dad-13359	571	1	url	url	PROPN
dad-13359	571	2	https://arxiv.org/pdf/2006.05205	https://arxiv.org/pdf/2006.05205	PROPN
dad-13359	571	3	.	.	PUNCT
dad-13359	571	4	pdf	pdf	PROPN
dad-13359	571	5	.	.	PUNCT
dad-13359	572	1	jacob	jacob	PROPN
dad-13359	572	2	andreas	andreas	PROPN
dad-13359	572	3	,	,	PUNCT
dad-13359	572	4	john	john	PROPN
dad-13359	572	5	bufe	bufe	PROPN
dad-13359	572	6	,	,	PUNCT
dad-13359	572	7	david	david	PROPN
dad-13359	572	8	burkett	burkett	PROPN
dad-13359	572	9	,	,	PUNCT
dad-13359	572	10	charles	charles	PROPN
dad-13359	572	11	chen	chen	PROPN
dad-13359	572	12	,	,	PUNCT
dad-13359	572	13	josh	josh	PROPN
dad-13359	572	14	clausman	clausman	PROPN
dad-13359	572	15	,	,	PUNCT
dad-13359	572	16	jean	jean	PROPN
dad-13359	572	17	crawford	crawford	PROPN
dad-13359	572	18	,	,	PUNCT
dad-13359	572	19	kate	kate	PROPN
dad-13359	572	20	crim	crim	PROPN
dad-13359	572	21	,	,	PUNCT
dad-13359	572	22	jordan	jordan	PROPN
dad-13359	572	23	deloach	deloach	PROPN
dad-13359	572	24	,	,	PUNCT
dad-13359	572	25	leah	leah	PROPN
dad-13359	572	26	dorner	dorner	PROPN
dad-13359	572	27	,	,	PUNCT
dad-13359	572	28	jason	jason	PROPN
dad-13359	572	29	eisner	eisner	PROPN
dad-13359	572	30	,	,	PUNCT
dad-13359	572	31	et	et	PROPN
dad-13359	572	32	al	al	PROPN
dad-13359	572	33	.	.	PUNCT
dad-13359	572	34	task	task	NOUN
dad-13359	572	35	-	-	PUNCT
dad-13359	572	36	oriented	orient	VERB
dad-13359	572	37	dialogue	dialogue	NOUN
dad-13359	572	38	as	as	ADP
dad-13359	572	39	dataflow	dataflow	ADJ
dad-13359	572	40	synthesis	synthesis	NOUN
dad-13359	572	41	.	.	PUNCT
dad-13359	573	1	transactions	transaction	NOUN
dad-13359	573	2	of	of	ADP
dad-13359	573	3	the	the	DET
dad-13359	573	4	association	association	NOUN
dad-13359	573	5	for	for	ADP
dad-13359	573	6	computational	computational	ADJ
dad-13359	573	7	linguistics	linguistic	NOUN
dad-13359	573	8	,	,	PUNCT
dad-13359	573	9	8:556–571	8:556–571	NUM
dad-13359	573	10	,	,	PUNCT
dad-13359	573	11	2020	2020	NUM
dad-13359	573	12	.	.	PUNCT
dad-13359	574	1	url	url	PROPN
dad-13359	574	2	https://direct.mit.edu/tacl/article/doi/10.1162/tacl_a	https://direct.mit.edu/tacl/article/doi/10.1162/tacl_a	NOUN
dad-13359	574	3	_	_	NOUN
dad-13359	574	4	00333/96470	00333/96470	NUM
dad-13359	574	5	.	.	PUNCT
dad-13359	575	1	laura	laura	PROPN
dad-13359	575	2	banarescu	banarescu	PROPN
dad-13359	575	3	,	,	PUNCT
dad-13359	575	4	claire	claire	PROPN
dad-13359	575	5	bonial	bonial	PROPN
dad-13359	575	6	,	,	PUNCT
dad-13359	575	7	shu	shu	PROPN
dad-13359	575	8	cai	cai	PROPN
dad-13359	575	9	,	,	PUNCT
dad-13359	575	10	madalina	madalina	PROPN
dad-13359	575	11	georgescu	georgescu	PROPN
dad-13359	575	12	,	,	PUNCT
dad-13359	575	13	kira	kira	PROPN
dad-13359	575	14	griffitt	griffitt	PROPN
dad-13359	575	15	,	,	PUNCT
dad-13359	575	16	ulf	ulf	PROPN
dad-13359	575	17	hermjakob	hermjakob	PROPN
dad-13359	575	18	,	,	PUNCT
dad-13359	575	19	kevin	kevin	PROPN
dad-13359	575	20	knight	knight	PROPN
dad-13359	575	21	,	,	PUNCT
dad-13359	575	22	philipp	philipp	PROPN
dad-13359	575	23	koehn	koehn	PROPN
dad-13359	575	24	,	,	PUNCT
dad-13359	575	25	martha	martha	PROPN
dad-13359	575	26	palmer	palmer	PROPN
dad-13359	575	27	,	,	PUNCT
dad-13359	575	28	and	and	CCONJ
dad-13359	575	29	nathan	nathan	PROPN
dad-13359	575	30	schneider	schneider	PROPN
dad-13359	575	31	.	.	PUNCT
dad-13359	576	1	abstract	abstract	ADJ
dad-13359	576	2	meaning	mean	VERB
dad-13359	576	3	representation	representation	NOUN
dad-13359	576	4	for	for	ADP
dad-13359	576	5	sembanking	sembanke	VERB
dad-13359	576	6	.	.	PUNCT
dad-13359	577	1	in	in	ADP
dad-13359	577	2	proceedings	proceeding	NOUN
dad-13359	577	3	of	of	ADP
dad-13359	577	4	the	the	DET
dad-13359	577	5	7th	7th	ADJ
dad-13359	577	6	linguistic	linguistic	ADJ
dad-13359	577	7	annotation	annotation	NOUN
dad-13359	577	8	workshop	workshop	NOUN
dad-13359	577	9	and	and	CCONJ
dad-13359	577	10	interoperability	interoperability	NOUN
dad-13359	577	11	with	with	ADP
dad-13359	577	12	discourse	discourse	NOUN
dad-13359	577	13	,	,	PUNCT
dad-13359	577	14	pages	page	NOUN
dad-13359	577	15	178–186	178–186	NUM
dad-13359	577	16	,	,	PUNCT
dad-13359	577	17	2013	2013	NUM
dad-13359	577	18	.	.	PUNCT
dad-13359	577	19	url	url	PROPN
dad-13359	577	20	https://aclanthology.org/w13-2322	https://aclanthology.org/w13-2322	PROPN
dad-13359	577	21	.	.	PUNCT
dad-13359	577	22	pdf	pdf	PROPN
dad-13359	577	23	.	.	PUNCT
dad-13359	578	1	james	james	PROPN
dad-13359	578	2	bergstra	bergstra	PROPN
dad-13359	578	3	,	,	PUNCT
dad-13359	578	4	rémi	rémi	NOUN
dad-13359	578	5	bardenet	bardenet	NOUN
dad-13359	578	6	,	,	PUNCT
dad-13359	578	7	yoshua	yoshua	PROPN
dad-13359	578	8	bengio	bengio	PROPN
dad-13359	578	9	,	,	PUNCT
dad-13359	578	10	and	and	CCONJ
dad-13359	578	11	balázs	balázs	PROPN
dad-13359	578	12	kégl	kégl	PROPN
dad-13359	578	13	.	.	PUNCT
dad-13359	578	14	algorithms	algorithm	NOUN
dad-13359	578	15	for	for	ADP
dad-13359	578	16	hyper	hyper	ADJ
dad-13359	578	17	-	-	ADJ
dad-13359	578	18	parameter	parameter	ADJ
dad-13359	578	19	optimization	optimization	NOUN
dad-13359	578	20	.	.	PUNCT
dad-13359	579	1	advances	advance	NOUN
dad-13359	579	2	in	in	ADP
dad-13359	579	3	neural	neural	ADJ
dad-13359	579	4	information	information	NOUN
dad-13359	579	5	processing	processing	NOUN
dad-13359	579	6	systems	system	NOUN
dad-13359	579	7	,	,	PUNCT
dad-13359	579	8	24	24	NUM
dad-13359	579	9	,	,	PUNCT
dad-13359	579	10	2011	2011	NUM
dad-13359	579	11	.	.	PUNCT
dad-13359	580	1	url	url	PROPN
dad-13359	580	2	https://proceedings.neurips.cc/paper_files/paper/2011/	https://proceedings.neurips.cc/paper_files/paper/2011/	PROPN
dad-13359	580	3	file/86e8f7ab32cfd12577bc2619bc635690	file/86e8f7ab32cfd12577bc2619bc635690	NOUN
dad-13359	580	4	-	-	PUNCT
dad-13359	580	5	paper.pdf	paper.pdf	NOUN
dad-13359	580	6	.	.	PUNCT
dad-13359	581	1	sajjad	sajjad	PROPN
dad-13359	581	2	beygi	beygi	PROPN
dad-13359	581	3	,	,	PUNCT
dad-13359	581	4	maryam	maryam	PROPN
dad-13359	581	5	fazel	fazel	PROPN
dad-13359	581	6	-	-	PUNCT
dad-13359	581	7	zarandi	zarandi	PROPN
dad-13359	581	8	,	,	PUNCT
dad-13359	581	9	alessandra	alessandra	PROPN
dad-13359	581	10	cervone	cervone	PROPN
dad-13359	581	11	,	,	PUNCT
dad-13359	581	12	prakash	prakash	PROPN
dad-13359	581	13	krishnan	krishnan	PROPN
dad-13359	581	14	,	,	PUNCT
dad-13359	581	15	and	and	CCONJ
dad-13359	581	16	siddhartha	siddhartha	PROPN
dad-13359	581	17	reddy	reddy	PROPN
dad-13359	581	18	jonnalagadda	jonnalagadda	PROPN
dad-13359	581	19	.	.	PUNCT
dad-13359	582	1	logical	logical	ADJ
dad-13359	582	2	reasoning	reasoning	NOUN
dad-13359	582	3	for	for	ADP
dad-13359	582	4	task	task	NOUN
dad-13359	582	5	oriented	orient	VERB
dad-13359	582	6	dialogue	dialogue	NOUN
dad-13359	582	7	systems	system	NOUN
dad-13359	582	8	.	.	PUNCT
dad-13359	583	1	arxiv	arxiv	PROPN
dad-13359	583	2	preprint	preprint	PROPN
dad-13359	583	3	arxiv:2202.04161	arxiv:2202.04161	VERB
dad-13359	583	4	,	,	PUNCT
dad-13359	583	5	2022	2022	NUM
dad-13359	583	6	.	.	PUNCT
dad-13359	584	1	url	url	PROPN
dad-13359	585	1	https://arxiv.org/pdf/2202.04161.pdf	https://arxiv.org/pdf/2202.04161.pdf	PROPN
dad-13359	585	2	.	.	PUNCT
dad-13359	585	3	erik	erik	PROPN
dad-13359	585	4	billing	billing	PROPN
dad-13359	585	5	,	,	PUNCT
dad-13359	585	6	julia	julia	PROPN
dad-13359	585	7	rosén	rosén	PROPN
dad-13359	585	8	,	,	PUNCT
dad-13359	585	9	and	and	CCONJ
dad-13359	585	10	maurice	maurice	PROPN
dad-13359	585	11	lamb	lamb	PROPN
dad-13359	585	12	.	.	PUNCT
dad-13359	586	1	language	language	NOUN
dad-13359	586	2	models	model	NOUN
dad-13359	586	3	for	for	ADP
dad-13359	586	4	human	human	ADJ
dad-13359	586	5	-	-	PUNCT
dad-13359	586	6	robot	robot	NOUN
dad-13359	586	7	interaction	interaction	NOUN
dad-13359	586	8	.	.	PUNCT
dad-13359	587	1	in	in	ADP
dad-13359	587	2	acm	acm	PROPN
dad-13359	587	3	/	/	SYM
dad-13359	587	4	ieee	ieee	PROPN
dad-13359	587	5	international	international	ADJ
dad-13359	587	6	conference	conference	NOUN
dad-13359	587	7	on	on	ADP
dad-13359	587	8	human	human	ADJ
dad-13359	587	9	-	-	PUNCT
dad-13359	587	10	robot	robot	NOUN
dad-13359	587	11	interaction	interaction	NOUN
dad-13359	587	12	,	,	PUNCT
dad-13359	587	13	march	march	PROPN
dad-13359	587	14	13–16	13–16	NUM
dad-13359	587	15	,	,	PUNCT
dad-13359	587	16	2023	2023	NUM
dad-13359	587	17	,	,	PUNCT
dad-13359	587	18	stockholm	stockholm	PROPN
dad-13359	587	19	,	,	PUNCT
dad-13359	587	20	sweden	sweden	PROPN
dad-13359	587	21	,	,	PUNCT
dad-13359	587	22	pages	page	NOUN
dad-13359	587	23	905–906	905–906	NUM
dad-13359	587	24	.	.	PROPN
dad-13359	587	25	acm	acm	PROPN
dad-13359	587	26	digital	digital	PROPN
dad-13359	587	27	library	library	NOUN
dad-13359	587	28	,	,	PUNCT
dad-13359	587	29	2023	2023	NUM
dad-13359	587	30	.	.	PUNCT
dad-13359	587	31	url	url	VERB
dad-13359	587	32	https://dl.acm.org/	https://dl.acm.org/	PROPN
dad-13359	587	33	doi	doi	PROPN
dad-13359	587	34	/	/	SYM
dad-13359	587	35	abs/10.1145/3568294.3580040	abs/10.1145/3568294.3580040	PROPN
dad-13359	587	36	.	.	PROPN
dad-13359	587	37	86	86	NUM
dad-13359	587	38	https://arxiv.org/pdf/2204.01691	https://arxiv.org/pdf/2204.01691	NOUN
dad-13359	587	39	https://dl.acm.org/doi/10.1145/3292500.3330701	https://dl.acm.org/doi/10.1145/3292500.3330701	ADP
dad-13359	587	40	https://proceedings.neurips.cc/paper_files/paper/2022/file/960a172bc7fbf0177ccccbb411a7d800-paper-conference.pdf	https://proceedings.neurips.cc/paper_files/paper/2022/file/960a172bc7fbf0177ccccbb411a7d800-paper-conference.pdf	PROPN
dad-13359	587	41	https://proceedings.neurips.cc/paper_files/paper/2022/file/960a172bc7fbf0177ccccbb411a7d800-paper-conference.pdf	https://proceedings.neurips.cc/paper_files/paper/2022/file/960a172bc7fbf0177ccccbb411a7d800-paper-conference.pdf	NOUN
dad-13359	588	1	https://arxiv.org/pdf/2006.05205.pdf	https://arxiv.org/pdf/2006.05205.pdf	PROPN
dad-13359	588	2	https://arxiv.org/pdf/2006.05205.pdf	https://arxiv.org/pdf/2006.05205.pdf	PROPN
dad-13359	588	3	https://direct.mit.edu/tacl/article/doi/10.1162/tacl_a_00333/96470	https://direct.mit.edu/tacl/article/doi/10.1162/tacl_a_00333/96470	PROPN
dad-13359	588	4	https://direct.mit.edu/tacl/article/doi/10.1162/tacl_a_00333/96470	https://direct.mit.edu/tacl/article/doi/10.1162/tacl_a_00333/96470	PROPN
dad-13359	588	5	https://aclanthology.org/w13-2322.pdf	https://aclanthology.org/w13-2322.pdf	PROPN
dad-13359	588	6	https://aclanthology.org/w13-2322.pdf	https://aclanthology.org/w13-2322.pdf	PROPN
dad-13359	588	7	https://proceedings.neurips.cc/paper_files/paper/2011/file/86e8f7ab32cfd12577bc2619bc635690-paper.pdf	https://proceedings.neurips.cc/paper_files/paper/2011/file/86e8f7ab32cfd12577bc2619bc635690-paper.pdf	PROPN
dad-13359	588	8	https://proceedings.neurips.cc/paper_files/paper/2011/file/86e8f7ab32cfd12577bc2619bc635690-paper.pdf	https://proceedings.neurips.cc/paper_files/paper/2011/file/86e8f7ab32cfd12577bc2619bc635690-paper.pdf	PROPN
dad-13359	588	9	https://arxiv.org/pdf/2202.04161.pdf	https://arxiv.org/pdf/2202.04161.pdf	PROPN
dad-13359	588	10	https://dl.acm.org/doi/abs/10.1145/3568294.3580040	https://dl.acm.org/doi/abs/10.1145/3568294.3580040	PROPN
dad-13359	588	11	https://dl.acm.org/doi/abs/10.1145/3568294.3580040	https://dl.acm.org/doi/abs/10.1145/3568294.3580040	PROPN
dad-13359	588	12	a	a	DET
dad-13359	588	13	graph	graph	NOUN
dad-13359	588	14	-	-	PUNCT
dad-13359	588	15	to	to	ADP
dad-13359	588	16	-	-	PUNCT
dad-13359	588	17	text	text	NOUN
dad-13359	588	18	approach	approach	NOUN
dad-13359	588	19	to	to	ADP
dad-13359	588	20	knowledge	knowledge	NOUN
dad-13359	588	21	-	-	PUNCT
dad-13359	588	22	grounded	ground	VERB
dad-13359	588	23	response	response	NOUN
dad-13359	588	24	generation	generation	NOUN
dad-13359	588	25	in	in	ADP
dad-13359	588	26	hri	hri	PROPN
dad-13359	588	27	rishi	rishi	PROPN
dad-13359	588	28	bommasani	bommasani	NOUN
dad-13359	588	29	,	,	PUNCT
dad-13359	588	30	drew	draw	VERB
dad-13359	588	31	a	a	DET
dad-13359	588	32	hudson	hudson	NOUN
dad-13359	588	33	,	,	PUNCT
dad-13359	588	34	ehsan	ehsan	PROPN
dad-13359	588	35	adeli	adeli	PROPN
dad-13359	588	36	,	,	PUNCT
dad-13359	588	37	russ	russ	PROPN
dad-13359	588	38	altman	altman	PROPN
dad-13359	588	39	,	,	PUNCT
dad-13359	588	40	simran	simran	PROPN
dad-13359	588	41	arora	arora	PROPN
dad-13359	588	42	,	,	PUNCT
dad-13359	588	43	sydney	sydney	PROPN
dad-13359	588	44	von	von	PROPN
dad-13359	588	45	arx	arx	PROPN
dad-13359	588	46	,	,	PUNCT
dad-13359	588	47	michael	michael	PROPN
dad-13359	588	48	s	s	PROPN
dad-13359	588	49	bernstein	bernstein	PROPN
dad-13359	588	50	,	,	PUNCT
dad-13359	588	51	jeannette	jeannette	PROPN
dad-13359	588	52	bohg	bohg	PROPN
dad-13359	588	53	,	,	PUNCT
dad-13359	588	54	antoine	antoine	PROPN
dad-13359	588	55	bosselut	bosselut	PROPN
dad-13359	588	56	,	,	PUNCT
dad-13359	588	57	emma	emma	PROPN
dad-13359	588	58	brunskill	brunskill	PROPN
dad-13359	588	59	,	,	PUNCT
dad-13359	588	60	et	et	PROPN
dad-13359	588	61	al	al	PROPN
dad-13359	588	62	.	.	PROPN
dad-13359	589	1	on	on	ADP
dad-13359	589	2	the	the	DET
dad-13359	589	3	opportunities	opportunity	NOUN
dad-13359	589	4	and	and	CCONJ
dad-13359	589	5	risks	risk	NOUN
dad-13359	589	6	of	of	ADP
dad-13359	589	7	foundation	foundation	NOUN
dad-13359	589	8	models	model	NOUN
dad-13359	589	9	.	.	PUNCT
dad-13359	590	1	arxiv	arxiv	PROPN
dad-13359	590	2	preprint	preprint	NOUN
dad-13359	590	3	arxiv:2108.07258	arxiv:2108.07258	NOUN
dad-13359	590	4	,	,	PUNCT
dad-13359	590	5	2021	2021	NUM
dad-13359	590	6	.	.	PUNCT
dad-13359	591	1	url	url	PROPN
dad-13359	591	2	https://arxiv.org/pdf/2108.07258.pdf?utm_source=morning_brew	https://arxiv.org/pdf/2108.07258.pdf?utm_source=morning_brew	PROPN
dad-13359	591	3	.	.	PROPN
dad-13359	591	4	claire	claire	PROPN
dad-13359	591	5	bonial	bonial	PROPN
dad-13359	591	6	,	,	PUNCT
dad-13359	591	7	lucia	lucia	PROPN
dad-13359	591	8	donatelli	donatelli	PROPN
dad-13359	591	9	,	,	PUNCT
dad-13359	591	10	mitchell	mitchell	PROPN
dad-13359	591	11	abrams	abrams	PROPN
dad-13359	591	12	,	,	PUNCT
dad-13359	591	13	stephanie	stephanie	PROPN
dad-13359	591	14	lukin	lukin	PROPN
dad-13359	591	15	,	,	PUNCT
dad-13359	591	16	stephen	stephen	PROPN
dad-13359	591	17	tratz	tratz	PROPN
dad-13359	591	18	,	,	PUNCT
dad-13359	591	19	matthew	matthew	PROPN
dad-13359	591	20	marge	marge	PROPN
dad-13359	591	21	,	,	PUNCT
dad-13359	591	22	ron	ron	PROPN
dad-13359	591	23	artstein	artstein	PROPN
dad-13359	591	24	,	,	PUNCT
dad-13359	591	25	david	david	PROPN
dad-13359	591	26	traum	traum	PROPN
dad-13359	591	27	,	,	PUNCT
dad-13359	591	28	and	and	CCONJ
dad-13359	591	29	clare	clare	PROPN
dad-13359	591	30	voss	voss	PROPN
dad-13359	591	31	.	.	PUNCT
dad-13359	592	1	dialogue	dialogue	NOUN
dad-13359	592	2	-	-	PUNCT
dad-13359	592	3	amr	amr	NOUN
dad-13359	592	4	:	:	PUNCT
dad-13359	592	5	abstract	abstract	ADJ
dad-13359	592	6	meaning	mean	VERB
dad-13359	592	7	representation	representation	NOUN
dad-13359	592	8	for	for	ADP
dad-13359	592	9	dialogue	dialogue	NOUN
dad-13359	592	10	.	.	PUNCT
dad-13359	593	1	in	in	ADP
dad-13359	593	2	proceedings	proceeding	NOUN
dad-13359	593	3	of	of	ADP
dad-13359	593	4	the	the	DET
dad-13359	593	5	12th	12th	ADJ
dad-13359	593	6	language	language	NOUN
dad-13359	593	7	resources	resource	NOUN
dad-13359	593	8	and	and	CCONJ
dad-13359	593	9	evaluation	evaluation	NOUN
dad-13359	593	10	conference	conference	NOUN
dad-13359	593	11	,	,	PUNCT
dad-13359	593	12	pages	page	NOUN
dad-13359	593	13	684–695	684–695	NUM
dad-13359	593	14	,	,	PUNCT
dad-13359	593	15	2020	2020	NUM
dad-13359	593	16	.	.	PUNCT
dad-13359	593	17	url	url	PROPN
dad-13359	593	18	https://aclanthology.org/2020.lrec-1.86.pdf	https://aclanthology.org/2020.lrec-1.86.pdf	PROPN
dad-13359	593	19	.	.	PUNCT
dad-13359	594	1	tom	tom	PROPN
dad-13359	594	2	brown	brown	PROPN
dad-13359	594	3	,	,	PUNCT
dad-13359	594	4	benjamin	benjamin	PROPN
dad-13359	594	5	mann	mann	PROPN
dad-13359	594	6	,	,	PUNCT
dad-13359	594	7	nick	nick	PROPN
dad-13359	594	8	ryder	ryder	PROPN
dad-13359	594	9	,	,	PUNCT
dad-13359	594	10	melanie	melanie	PROPN
dad-13359	594	11	subbiah	subbiah	PROPN
dad-13359	594	12	,	,	PUNCT
dad-13359	594	13	jared	jared	PROPN
dad-13359	594	14	d	d	PROPN
dad-13359	594	15	kaplan	kaplan	PROPN
dad-13359	594	16	,	,	PUNCT
dad-13359	594	17	prafulla	prafulla	NOUN
dad-13359	594	18	dhariwal	dhariwal	NOUN
dad-13359	594	19	,	,	PUNCT
dad-13359	594	20	arvind	arvind	PROPN
dad-13359	594	21	neelakantan	neelakantan	PROPN
dad-13359	594	22	,	,	PUNCT
dad-13359	594	23	pranav	pranav	PROPN
dad-13359	594	24	shyam	shyam	PROPN
dad-13359	594	25	,	,	PUNCT
dad-13359	594	26	girish	girish	PROPN
dad-13359	594	27	sastry	sastry	PROPN
dad-13359	594	28	,	,	PUNCT
dad-13359	594	29	amanda	amanda	PROPN
dad-13359	594	30	askell	askell	PROPN
dad-13359	594	31	,	,	PUNCT
dad-13359	594	32	et	et	PROPN
dad-13359	594	33	al	al	PROPN
dad-13359	594	34	.	.	PUNCT
dad-13359	595	1	language	language	NOUN
dad-13359	595	2	models	model	NOUN
dad-13359	595	3	are	be	AUX
dad-13359	595	4	few	few	ADJ
dad-13359	595	5	-	-	PUNCT
dad-13359	595	6	shot	shot	NOUN
dad-13359	595	7	learners	learner	NOUN
dad-13359	595	8	.	.	PUNCT
dad-13359	596	1	advances	advance	NOUN
dad-13359	596	2	in	in	ADP
dad-13359	596	3	neural	neural	ADJ
dad-13359	596	4	information	information	NOUN
dad-13359	596	5	processing	processing	NOUN
dad-13359	596	6	systems	system	NOUN
dad-13359	596	7	,	,	PUNCT
dad-13359	596	8	33:1877–1901	33:1877–1901	NUM
dad-13359	596	9	,	,	PUNCT
dad-13359	596	10	2020	2020	NUM
dad-13359	596	11	.	.	PUNCT
dad-13359	596	12	url	url	PROPN
dad-13359	596	13	https://proceedings.neurips.cc/paper_files/paper/2020/	https://proceedings.neurips.cc/paper_files/paper/2020/	PROPN
dad-13359	596	14	file/1457c0d6bfcb4967418bfb8ac142f64a	file/1457c0d6bfcb4967418bfb8ac142f64a	NOUN
dad-13359	596	15	-	-	PUNCT
dad-13359	596	16	paper.pdf	paper.pdf	NOUN
dad-13359	596	17	.	.	PUNCT
dad-13359	597	1	sébastien	sébastien	ADV
dad-13359	597	2	bubeck	bubeck	NOUN
dad-13359	597	3	,	,	PUNCT
dad-13359	597	4	varun	varun	PROPN
dad-13359	597	5	chandrasekaran	chandrasekaran	VERB
dad-13359	597	6	,	,	PUNCT
dad-13359	597	7	ronen	ronen	PROPN
dad-13359	597	8	eldan	eldan	PROPN
dad-13359	597	9	,	,	PUNCT
dad-13359	597	10	johannes	johannes	PROPN
dad-13359	597	11	gehrke	gehrke	PROPN
dad-13359	597	12	,	,	PUNCT
dad-13359	597	13	eric	eric	PROPN
dad-13359	597	14	horvitz	horvitz	PROPN
dad-13359	597	15	,	,	PUNCT
dad-13359	597	16	ece	ece	PROPN
dad-13359	597	17	kamar	kamar	PROPN
dad-13359	597	18	,	,	PUNCT
dad-13359	597	19	peter	peter	PROPN
dad-13359	597	20	lee	lee	PROPN
dad-13359	597	21	,	,	PUNCT
dad-13359	597	22	yin	yin	PROPN
dad-13359	597	23	tat	tat	PROPN
dad-13359	597	24	lee	lee	PROPN
dad-13359	597	25	,	,	PUNCT
dad-13359	597	26	yuanzhi	yuanzhi	PROPN
dad-13359	597	27	li	li	PROPN
dad-13359	597	28	,	,	PUNCT
dad-13359	597	29	scott	scott	PROPN
dad-13359	597	30	lundberg	lundberg	PROPN
dad-13359	597	31	,	,	PUNCT
dad-13359	597	32	et	et	PROPN
dad-13359	597	33	al	al	PROPN
dad-13359	597	34	.	.	PROPN
dad-13359	598	1	sparks	spark	NOUN
dad-13359	598	2	of	of	ADP
dad-13359	598	3	artificial	artificial	ADJ
dad-13359	598	4	general	general	ADJ
dad-13359	598	5	intelligence	intelligence	NOUN
dad-13359	598	6	:	:	PUNCT
dad-13359	598	7	early	early	ADJ
dad-13359	598	8	experiments	experiment	NOUN
dad-13359	598	9	with	with	ADP
dad-13359	598	10	gpt-4	gpt-4	NOUN
dad-13359	598	11	.	.	PUNCT
dad-13359	599	1	arxiv	arxiv	PROPN
dad-13359	599	2	preprint	preprint	NOUN
dad-13359	599	3	arxiv:2303.12712	arxiv:2303.12712	NOUN
dad-13359	599	4	,	,	PUNCT
dad-13359	599	5	2023	2023	NUM
dad-13359	599	6	.	.	PUNCT
dad-13359	600	1	url	url	PROPN
dad-13359	600	2	https://arxiv.org/pdf/2303.12712.pdf?utm_source=webtekno	https://arxiv.org/pdf/2303.12712.pdf?utm_source=webtekno	PROPN
dad-13359	600	3	.	.	PUNCT
dad-13359	601	1	carlos	carlos	PROPN
dad-13359	601	2	celemin	celemin	PROPN
dad-13359	601	3	and	and	CCONJ
dad-13359	601	4	jens	jens	PROPN
dad-13359	601	5	kober	kober	PROPN
dad-13359	601	6	.	.	PUNCT
dad-13359	602	1	knowledge	knowledge	NOUN
dad-13359	602	2	-	-	PUNCT
dad-13359	602	3	and	and	CCONJ
dad-13359	602	4	ambiguity	ambiguity	NOUN
dad-13359	602	5	-	-	PUNCT
dad-13359	602	6	aware	aware	ADJ
dad-13359	602	7	robot	robot	NOUN
dad-13359	602	8	learning	learn	VERB
dad-13359	602	9	from	from	ADP
dad-13359	602	10	corrective	corrective	ADJ
dad-13359	602	11	and	and	CCONJ
dad-13359	602	12	evaluative	evaluative	ADJ
dad-13359	602	13	feedback	feedback	NOUN
dad-13359	602	14	.	.	PUNCT
dad-13359	603	1	neural	neural	ADJ
dad-13359	603	2	computing	computing	NOUN
dad-13359	603	3	and	and	CCONJ
dad-13359	603	4	applications	application	NOUN
dad-13359	603	5	,	,	PUNCT
dad-13359	603	6	pages	page	NOUN
dad-13359	603	7	1–19	1–19	PROPN
dad-13359	603	8	,	,	PUNCT
dad-13359	603	9	2023	2023	NUM
dad-13359	603	10	.	.	PUNCT
dad-13359	604	1	url	url	PROPN
dad-13359	604	2	https	https	NOUN
dad-13359	604	3	:	:	PUNCT
dad-13359	604	4	//link.springer.com	//link.springer.com	PUNCT
dad-13359	604	5	/	/	SYM
dad-13359	604	6	article/10.1007	article/10.1007	ADJ
dad-13359	604	7	/	/	SYM
dad-13359	604	8	s00521	s00521	NOUN
dad-13359	604	9	-	-	PUNCT
dad-13359	604	10	022	022	NUM
dad-13359	604	11	-	-	PUNCT
dad-13359	604	12	08118	08118	NUM
dad-13359	604	13	-	-	PUNCT
dad-13359	604	14	z.	z.	PROPN
dad-13359	604	15	wenhu	wenhu	PROPN
dad-13359	604	16	chen	chen	PROPN
dad-13359	604	17	.	.	PUNCT
dad-13359	605	1	large	large	ADJ
dad-13359	605	2	language	language	NOUN
dad-13359	605	3	models	model	NOUN
dad-13359	605	4	are	be	AUX
dad-13359	605	5	few	few	ADJ
dad-13359	605	6	(	(	PUNCT
dad-13359	605	7	1)-shot	1)-shot	NUM
dad-13359	605	8	table	table	NOUN
dad-13359	605	9	reasoners	reasoner	NOUN
dad-13359	605	10	.	.	PUNCT
dad-13359	606	1	arxiv	arxiv	PROPN
dad-13359	606	2	preprint	preprint	PROPN
dad-13359	606	3	arxiv:2210.06710	arxiv:2210.06710	PROPN
dad-13359	606	4	,	,	PUNCT
dad-13359	606	5	2022	2022	NUM
dad-13359	606	6	.	.	PUNCT
dad-13359	607	1	url	url	PROPN
dad-13359	607	2	https://arxiv.org/pdf/2210.06710	https://arxiv.org/pdf/2210.06710	PROPN
dad-13359	607	3	.	.	PUNCT
dad-13359	608	1	philipp	philipp	PROPN
dad-13359	608	2	christmann	christmann	PROPN
dad-13359	608	3	,	,	PUNCT
dad-13359	608	4	rishiraj	rishiraj	PROPN
dad-13359	608	5	saha	saha	PROPN
dad-13359	608	6	roy	roy	PROPN
dad-13359	608	7	,	,	PUNCT
dad-13359	608	8	and	and	CCONJ
dad-13359	608	9	gerhard	gerhard	PROPN
dad-13359	608	10	weikum	weikum	NOUN
dad-13359	608	11	.	.	PUNCT
dad-13359	609	1	explainable	explainable	ADJ
dad-13359	609	2	conversational	conversational	ADJ
dad-13359	609	3	question	question	NOUN
dad-13359	609	4	answering	answer	VERB
dad-13359	609	5	over	over	ADP
dad-13359	609	6	heterogeneous	heterogeneous	ADJ
dad-13359	609	7	sources	source	NOUN
dad-13359	609	8	via	via	ADP
dad-13359	609	9	iterative	iterative	NOUN
dad-13359	609	10	graph	graph	NOUN
dad-13359	609	11	neural	neural	ADJ
dad-13359	609	12	networks	network	NOUN
dad-13359	609	13	.	.	PUNCT
dad-13359	610	1	in	in	ADP
dad-13359	610	2	proceedings	proceeding	NOUN
dad-13359	610	3	of	of	ADP
dad-13359	610	4	the	the	DET
dad-13359	610	5	46th	46th	ADJ
dad-13359	610	6	international	international	PROPN
dad-13359	610	7	acm	acm	PROPN
dad-13359	610	8	sigir	sigir	PROPN
dad-13359	610	9	conference	conference	PROPN
dad-13359	610	10	on	on	ADP
dad-13359	610	11	research	research	NOUN
dad-13359	610	12	and	and	CCONJ
dad-13359	610	13	development	development	NOUN
dad-13359	610	14	in	in	ADP
dad-13359	610	15	information	information	NOUN
dad-13359	610	16	retrieval	retrieval	NOUN
dad-13359	610	17	,	,	PUNCT
dad-13359	610	18	pages	page	NOUN
dad-13359	610	19	643–653	643–653	NUM
dad-13359	610	20	,	,	PUNCT
dad-13359	610	21	2023	2023	NUM
dad-13359	610	22	.	.	PUNCT
dad-13359	611	1	url	url	PROPN
dad-13359	611	2	https://dl.acm.org/doi/pdf/10.1145/	https://dl.acm.org/doi/pdf/10.1145/	PROPN
dad-13359	611	3	3539618.3591682	3539618.3591682	NUM
dad-13359	611	4	.	.	PUNCT
dad-13359	612	1	tim	tim	PROPN
dad-13359	612	2	dettmers	dettmers	PROPN
dad-13359	612	3	,	,	PUNCT
dad-13359	612	4	mike	mike	PROPN
dad-13359	612	5	lewis	lewis	PROPN
dad-13359	612	6	,	,	PUNCT
dad-13359	612	7	younes	younes	PROPN
dad-13359	612	8	belkada	belkada	PROPN
dad-13359	612	9	,	,	PUNCT
dad-13359	612	10	and	and	CCONJ
dad-13359	612	11	luke	luke	PROPN
dad-13359	612	12	zettlemoyer	zettlemoyer	PROPN
dad-13359	612	13	.	.	PUNCT
dad-13359	613	1	llm.int8	llm.int8	PROPN
dad-13359	613	2	(	(	PUNCT
dad-13359	613	3	):	):	PUNCT
dad-13359	613	4	8	8	NUM
dad-13359	613	5	-	-	PUNCT
dad-13359	613	6	bit	bit	NOUN
dad-13359	613	7	matrix	matrix	NOUN
dad-13359	613	8	multiplication	multiplication	NOUN
dad-13359	613	9	for	for	ADP
dad-13359	613	10	transformers	transformer	NOUN
dad-13359	613	11	at	at	ADP
dad-13359	613	12	scale	scale	NOUN
dad-13359	613	13	.	.	PUNCT
dad-13359	614	1	arxiv	arxiv	PROPN
dad-13359	614	2	preprint	preprint	PROPN
dad-13359	614	3	arxiv:2208.07339	arxiv:2208.07339	PROPN
dad-13359	614	4	,	,	PUNCT
dad-13359	614	5	2022a	2022a	NUM
dad-13359	614	6	.	.	PUNCT
dad-13359	615	1	url	url	PROPN
dad-13359	615	2	https	https	NOUN
dad-13359	615	3	:	:	PUNCT
dad-13359	615	4	//arxiv.org	//arxiv.org	PUNCT
dad-13359	615	5	/	/	SYM
dad-13359	615	6	pdf/2208.07339.pdf?trk	pdf/2208.07339.pdf?trk	PROPN
dad-13359	615	7	=	=	SYM
dad-13359	615	8	public_post_comment	public_post_comment	NOUN
dad-13359	615	9	-	-	NOUN
dad-13359	615	10	text	text	NOUN
dad-13359	615	11	.	.	PUNCT
dad-13359	616	1	tim	tim	PROPN
dad-13359	616	2	dettmers	dettmers	PROPN
dad-13359	616	3	,	,	PUNCT
dad-13359	616	4	mike	mike	PROPN
dad-13359	616	5	lewis	lewis	PROPN
dad-13359	616	6	,	,	PUNCT
dad-13359	616	7	sam	sam	PROPN
dad-13359	616	8	shleifer	shleifer	PROPN
dad-13359	616	9	,	,	PUNCT
dad-13359	616	10	and	and	CCONJ
dad-13359	616	11	luke	luke	PROPN
dad-13359	616	12	zettlemoyer	zettlemoyer	NOUN
dad-13359	616	13	.	.	PUNCT
dad-13359	617	1	8	8	NUM
dad-13359	617	2	-	-	PUNCT
dad-13359	617	3	bit	bit	NOUN
dad-13359	617	4	optimizers	optimizer	NOUN
dad-13359	617	5	via	via	ADP
dad-13359	617	6	block	block	NOUN
dad-13359	617	7	-	-	PUNCT
dad-13359	617	8	wise	wise	ADJ
dad-13359	617	9	quantization	quantization	NOUN
dad-13359	617	10	.	.	PUNCT
dad-13359	618	1	9th	9th	ADJ
dad-13359	618	2	international	international	ADJ
dad-13359	618	3	conference	conference	NOUN
dad-13359	618	4	on	on	ADP
dad-13359	618	5	learning	learn	VERB
dad-13359	618	6	representations	representation	NOUN
dad-13359	618	7	,	,	PUNCT
dad-13359	618	8	iclr	iclr	NOUN
dad-13359	618	9	,	,	PUNCT
dad-13359	618	10	2022b	2022b	NUM
dad-13359	618	11	.	.	PUNCT
dad-13359	619	1	url	url	PROPN
dad-13359	619	2	https://arxiv.org/pdf/2110.02861	https://arxiv.org/pdf/2110.02861	PROPN
dad-13359	619	3	.	.	PUNCT
dad-13359	620	1	qingxiu	qingxiu	PROPN
dad-13359	620	2	dong	dong	PROPN
dad-13359	620	3	,	,	PUNCT
dad-13359	620	4	lei	lei	PROPN
dad-13359	620	5	li	li	PROPN
dad-13359	620	6	,	,	PUNCT
dad-13359	620	7	damai	damai	PROPN
dad-13359	620	8	dai	dai	PROPN
dad-13359	620	9	,	,	PUNCT
dad-13359	620	10	ce	ce	PROPN
dad-13359	620	11	zheng	zheng	PROPN
dad-13359	620	12	,	,	PUNCT
dad-13359	620	13	zhiyong	zhiyong	PROPN
dad-13359	620	14	wu	wu	PROPN
dad-13359	620	15	,	,	PUNCT
dad-13359	620	16	baobao	baobao	PROPN
dad-13359	620	17	chang	chang	PROPN
dad-13359	620	18	,	,	PUNCT
dad-13359	620	19	xu	xu	PROPN
dad-13359	620	20	sun	sun	PROPN
dad-13359	620	21	,	,	PUNCT
dad-13359	620	22	jingjing	jingjing	PROPN
dad-13359	620	23	xu	xu	PROPN
dad-13359	620	24	,	,	PUNCT
dad-13359	620	25	and	and	CCONJ
dad-13359	620	26	zhifang	zhifang	PROPN
dad-13359	620	27	sui	sui	PROPN
dad-13359	620	28	.	.	PUNCT
dad-13359	621	1	a	a	DET
dad-13359	621	2	survey	survey	NOUN
dad-13359	621	3	for	for	ADP
dad-13359	621	4	in	in	ADP
dad-13359	621	5	-	-	PUNCT
dad-13359	621	6	context	context	NOUN
dad-13359	621	7	learning	learning	NOUN
dad-13359	621	8	.	.	PUNCT
dad-13359	622	1	arxiv	arxiv	PROPN
dad-13359	622	2	preprint	preprint	NOUN
dad-13359	622	3	arxiv:2301.00234	arxiv:2301.00234	NOUN
dad-13359	622	4	,	,	PUNCT
dad-13359	622	5	2022	2022	NUM
dad-13359	622	6	.	.	PUNCT
dad-13359	623	1	url	url	PROPN
dad-13359	623	2	https://arxiv.org/pdf/2301.00234.pdf	https://arxiv.org/pdf/2301.00234.pdf	PROPN
dad-13359	623	3	.	.	PUNCT
dad-13359	624	1	david	david	PROPN
dad-13359	624	2	h	h	PROPN
dad-13359	624	3	douglas	douglas	PROPN
dad-13359	624	4	and	and	CCONJ
dad-13359	624	5	thomas	thomas	PROPN
dad-13359	624	6	k	k	PROPN
dad-13359	624	7	peucker	peucker	PROPN
dad-13359	624	8	.	.	PUNCT
dad-13359	625	1	algorithms	algorithm	NOUN
dad-13359	625	2	for	for	ADP
dad-13359	625	3	the	the	DET
dad-13359	625	4	reduction	reduction	NOUN
dad-13359	625	5	of	of	ADP
dad-13359	625	6	the	the	DET
dad-13359	625	7	number	number	NOUN
dad-13359	625	8	of	of	ADP
dad-13359	625	9	points	point	NOUN
dad-13359	625	10	required	require	VERB
dad-13359	625	11	to	to	PART
dad-13359	625	12	represent	represent	VERB
dad-13359	625	13	a	a	DET
dad-13359	625	14	digitized	digitize	VERB
dad-13359	625	15	line	line	NOUN
dad-13359	625	16	or	or	CCONJ
dad-13359	625	17	its	its	PRON
dad-13359	625	18	caricature	caricature	NOUN
dad-13359	625	19	.	.	PUNCT
dad-13359	626	1	cartographica	cartographica	PROPN
dad-13359	626	2	:	:	PUNCT
dad-13359	627	1	the	the	DET
dad-13359	627	2	international	international	ADJ
dad-13359	627	3	journal	journal	NOUN
dad-13359	627	4	87	87	NUM
dad-13359	627	5	https://arxiv.org/pdf/2108.07258.pdf?utm_source=morning_brew	https://arxiv.org/pdf/2108.07258.pdf?utm_source=morning_brew	PROPN
dad-13359	627	6	https://aclanthology.org/2020.lrec-1.86.pdf	https://aclanthology.org/2020.lrec-1.86.pdf	NOUN
dad-13359	627	7	https://proceedings.neurips.cc/paper_files/paper/2020/file/1457c0d6bfcb4967418bfb8ac142f64a-paper.pdf	https://proceedings.neurips.cc/paper_files/paper/2020/file/1457c0d6bfcb4967418bfb8ac142f64a-paper.pdf	NOUN
dad-13359	628	1	https://proceedings.neurips.cc/paper_files/paper/2020/file/1457c0d6bfcb4967418bfb8ac142f64a-paper.pdf	https://proceedings.neurips.cc/paper_files/paper/2020/file/1457c0d6bfcb4967418bfb8ac142f64a-paper.pdf	NOUN
dad-13359	628	2	https://arxiv.org/pdf/2303.12712.pdf?utm_source=webtekno	https://arxiv.org/pdf/2303.12712.pdf?utm_source=webtekno	NOUN
dad-13359	628	3	https://link.springer.com/article/10.1007/s00521-022-08118-z	https://link.springer.com/article/10.1007/s00521-022-08118-z	ADP
dad-13359	628	4	https://link.springer.com/article/10.1007/s00521-022-08118-z	https://link.springer.com/article/10.1007/s00521-022-08118-z	ADP
dad-13359	628	5	https://arxiv.org/pdf/2210.06710	https://arxiv.org/pdf/2210.06710	NOUN
dad-13359	628	6	https://dl.acm.org/doi/pdf/10.1145/3539618.3591682	https://dl.acm.org/doi/pdf/10.1145/3539618.3591682	NOUN
dad-13359	628	7	https://dl.acm.org/doi/pdf/10.1145/3539618.3591682	https://dl.acm.org/doi/pdf/10.1145/3539618.3591682	ADP
dad-13359	628	8	https://arxiv.org/pdf/2208.07339.pdf?trk=public_post_comment-text	https://arxiv.org/pdf/2208.07339.pdf?trk=public_post_comment-text	NUM
dad-13359	628	9	https://arxiv.org/pdf/2208.07339.pdf?trk=public_post_comment-text	https://arxiv.org/pdf/2208.07339.pdf?trk=public_post_comment-text	PROPN
dad-13359	628	10	https://arxiv.org/pdf/2110.02861	https://arxiv.org/pdf/2110.02861	PROPN
dad-13359	628	11	https://arxiv.org/pdf/2301.00234.pdf	https://arxiv.org/pdf/2301.00234.pdf	PROPN
dad-13359	628	12	walker	walker	PROPN
dad-13359	628	13	,	,	PUNCT
dad-13359	628	14	ultes	ulte	NOUN
dad-13359	628	15	and	and	CCONJ
dad-13359	628	16	lison	lison	NOUN
dad-13359	628	17	for	for	ADP
dad-13359	628	18	geographic	geographic	ADJ
dad-13359	628	19	information	information	NOUN
dad-13359	628	20	and	and	CCONJ
dad-13359	628	21	geovisualization	geovisualization	NOUN
dad-13359	628	22	,	,	PUNCT
dad-13359	628	23	10(2):112–122	10(2):112–122	NUM
dad-13359	628	24	,	,	PUNCT
dad-13359	628	25	1973	1973	NUM
dad-13359	628	26	.	.	PUNCT
dad-13359	629	1	url	url	PROPN
dad-13359	629	2	http://www2	http://www2	PROPN
dad-13359	629	3	.	.	PUNCT
dad-13359	630	1	ipcku.kansai-u.ac.jp/˜yasumuro/m_infomedia/paper/douglas73.pdf	ipcku.kansai-u.ac.jp/˜yasumuro/m_infomedia/paper/douglas73.pdf	PROPN
dad-13359	630	2	.	.	PUNCT
dad-13359	631	1	danny	danny	PROPN
dad-13359	631	2	driess	driess	PROPN
dad-13359	631	3	,	,	PUNCT
dad-13359	631	4	fei	fei	PROPN
dad-13359	631	5	xia	xia	PROPN
dad-13359	631	6	,	,	PUNCT
dad-13359	631	7	mehdi	mehdi	PROPN
dad-13359	631	8	sm	sm	PROPN
dad-13359	631	9	sajjadi	sajjadi	PROPN
dad-13359	631	10	,	,	PUNCT
dad-13359	631	11	corey	corey	PROPN
dad-13359	631	12	lynch	lynch	PROPN
dad-13359	631	13	,	,	PUNCT
dad-13359	631	14	aakanksha	aakanksha	PROPN
dad-13359	631	15	chowdhery	chowdhery	PROPN
dad-13359	631	16	,	,	PUNCT
dad-13359	631	17	brian	brian	PROPN
dad-13359	631	18	ichter	ichter	PROPN
dad-13359	631	19	,	,	PUNCT
dad-13359	631	20	ayzaan	ayzaan	PROPN
dad-13359	631	21	wahid	wahid	PROPN
dad-13359	631	22	,	,	PUNCT
dad-13359	631	23	jonathan	jonathan	PROPN
dad-13359	631	24	tompson	tompson	PROPN
dad-13359	631	25	,	,	PUNCT
dad-13359	631	26	quan	quan	PROPN
dad-13359	631	27	vuong	vuong	PROPN
dad-13359	631	28	,	,	PUNCT
dad-13359	631	29	tianhe	tianhe	PROPN
dad-13359	631	30	yu	yu	PROPN
dad-13359	631	31	,	,	PUNCT
dad-13359	631	32	et	et	PROPN
dad-13359	631	33	al	al	PROPN
dad-13359	631	34	.	.	PUNCT
dad-13359	631	35	palm	palm	NOUN
dad-13359	631	36	-	-	PUNCT
dad-13359	631	37	e	e	NOUN
dad-13359	631	38	:	:	PUNCT
dad-13359	631	39	an	an	DET
dad-13359	631	40	embodied	embody	VERB
dad-13359	631	41	multimodal	multimodal	NOUN
dad-13359	631	42	language	language	NOUN
dad-13359	631	43	model	model	NOUN
dad-13359	631	44	.	.	PUNCT
dad-13359	632	1	arxiv	arxiv	PROPN
dad-13359	632	2	preprint	preprint	NOUN
dad-13359	632	3	arxiv:2303.03378	arxiv:2303.03378	PROPN
dad-13359	632	4	,	,	PUNCT
dad-13359	632	5	2023	2023	NUM
dad-13359	632	6	.	.	PUNCT
dad-13359	633	1	url	url	PROPN
dad-13359	633	2	https://arxiv	https://arxiv	PROPN
dad-13359	633	3	.	.	PUNCT
dad-13359	633	4	org	org	PROPN
dad-13359	633	5	/	/	SYM
dad-13359	633	6	pdf/2303.03378.pdf?trk	pdf/2303.03378.pdf?trk	PROPN
dad-13359	633	7	=	=	NOUN
dad-13359	633	8	public_post_comment	public_post_comment	NOUN
dad-13359	633	9	-	-	PUNCT
dad-13359	633	10	text	text	NOUN
dad-13359	633	11	.	.	PUNCT
dad-13359	634	1	nouha	nouha	ADJ
dad-13359	634	2	dziri	dziri	PROPN
dad-13359	634	3	,	,	PUNCT
dad-13359	634	4	ximing	ximing	PROPN
dad-13359	634	5	lu	lu	PROPN
dad-13359	634	6	,	,	PUNCT
dad-13359	634	7	melanie	melanie	PROPN
dad-13359	634	8	sclar	sclar	PROPN
dad-13359	634	9	,	,	PUNCT
dad-13359	634	10	xiang	xiang	PROPN
dad-13359	634	11	lorraine	lorraine	PROPN
dad-13359	634	12	li	li	PROPN
dad-13359	634	13	,	,	PUNCT
dad-13359	634	14	liwei	liwei	ADJ
dad-13359	634	15	jian	jian	PROPN
dad-13359	634	16	,	,	PUNCT
dad-13359	634	17	bill	bill	PROPN
dad-13359	634	18	yuchen	yuchen	PROPN
dad-13359	634	19	lin	lin	PROPN
dad-13359	634	20	,	,	PUNCT
dad-13359	634	21	peter	peter	PROPN
dad-13359	634	22	west	west	PROPN
dad-13359	634	23	,	,	PUNCT
dad-13359	634	24	chandra	chandra	PROPN
dad-13359	634	25	bhagavatula	bhagavatula	PROPN
dad-13359	634	26	,	,	PUNCT
dad-13359	634	27	ronan	ronan	PROPN
dad-13359	634	28	le	le	PROPN
dad-13359	634	29	bras	bras	PROPN
dad-13359	634	30	,	,	PUNCT
dad-13359	634	31	jena	jena	PROPN
dad-13359	634	32	d	d	PROPN
dad-13359	634	33	hwang	hwang	PROPN
dad-13359	634	34	,	,	PUNCT
dad-13359	634	35	et	et	PROPN
dad-13359	634	36	al	al	PROPN
dad-13359	634	37	.	.	PROPN
dad-13359	634	38	faith	faith	NOUN
dad-13359	634	39	and	and	CCONJ
dad-13359	634	40	fate	fate	NOUN
dad-13359	634	41	:	:	PUNCT
dad-13359	634	42	limits	limit	NOUN
dad-13359	634	43	of	of	ADP
dad-13359	634	44	transformers	transformer	NOUN
dad-13359	634	45	on	on	ADP
dad-13359	634	46	compositionality	compositionality	NOUN
dad-13359	634	47	.	.	PUNCT
dad-13359	635	1	arxiv	arxiv	PROPN
dad-13359	635	2	preprint	preprint	VERB
dad-13359	635	3	arxiv:2305.18654	arxiv:2305.18654	ADJ
dad-13359	635	4	,	,	PUNCT
dad-13359	635	5	2023	2023	NUM
dad-13359	635	6	.	.	PUNCT
dad-13359	636	1	url	url	PROPN
dad-13359	636	2	https://	https://	PROPN
dad-13359	636	3	arxiv.org/pdf/2305.18654.pdf	arxiv.org/pdf/2305.18654.pdf	PROPN
dad-13359	636	4	.	.	PUNCT
dad-13359	637	1	mihail	mihail	PROPN
dad-13359	637	2	eric	eric	PROPN
dad-13359	637	3	,	,	PUNCT
dad-13359	637	4	lakshmi	lakshmi	PROPN
dad-13359	637	5	krishnan	krishnan	PROPN
dad-13359	637	6	,	,	PUNCT
dad-13359	637	7	francois	francois	PROPN
dad-13359	637	8	charette	charette	NOUN
dad-13359	637	9	,	,	PUNCT
dad-13359	637	10	and	and	CCONJ
dad-13359	637	11	christopher	christopher	PROPN
dad-13359	637	12	d.	d.	PROPN
dad-13359	637	13	manning	manning	PROPN
dad-13359	637	14	.	.	PUNCT
dad-13359	638	1	key	key	ADJ
dad-13359	638	2	-	-	PUNCT
dad-13359	638	3	value	value	NOUN
dad-13359	638	4	retrieval	retrieval	NOUN
dad-13359	638	5	networks	network	NOUN
dad-13359	638	6	for	for	ADP
dad-13359	638	7	task	task	NOUN
dad-13359	638	8	-	-	PUNCT
dad-13359	638	9	oriented	orient	VERB
dad-13359	638	10	dialogue	dialogue	NOUN
dad-13359	638	11	.	.	PUNCT
dad-13359	639	1	in	in	ADP
dad-13359	639	2	proceedings	proceeding	NOUN
dad-13359	639	3	of	of	ADP
dad-13359	639	4	the	the	DET
dad-13359	639	5	18th	18th	ADJ
dad-13359	639	6	annual	annual	ADJ
dad-13359	639	7	sigdial	sigdial	ADJ
dad-13359	639	8	meeting	meeting	NOUN
dad-13359	639	9	on	on	ADP
dad-13359	639	10	discourse	discourse	NOUN
dad-13359	639	11	and	and	CCONJ
dad-13359	639	12	dialogue	dialogue	NOUN
dad-13359	639	13	,	,	PUNCT
dad-13359	639	14	pages	page	NOUN
dad-13359	639	15	37–49	37–49	NUM
dad-13359	639	16	,	,	PUNCT
dad-13359	639	17	saarbrücken	saarbrücken	VERB
dad-13359	639	18	,	,	PUNCT
dad-13359	639	19	germany	germany	PROPN
dad-13359	639	20	,	,	PUNCT
dad-13359	639	21	august	august	PROPN
dad-13359	639	22	2017	2017	NUM
dad-13359	639	23	.	.	PUNCT
dad-13359	640	1	association	association	NOUN
dad-13359	640	2	for	for	ADP
dad-13359	640	3	computational	computational	ADJ
dad-13359	640	4	linguistics	linguistic	NOUN
dad-13359	640	5	.	.	PUNCT
dad-13359	641	1	doi	doi	NOUN
dad-13359	641	2	:	:	PUNCT
dad-13359	641	3	10.18653	10.18653	NUM
dad-13359	641	4	/	/	SYM
dad-13359	641	5	v1	v1	NOUN
dad-13359	641	6	/	/	SYM
dad-13359	641	7	w17	w17	NOUN
dad-13359	641	8	-	-	PUNCT
dad-13359	641	9	5506	5506	NUM
dad-13359	641	10	.	.	PUNCT
dad-13359	642	1	url	url	PROPN
dad-13359	642	2	https://aclanthology	https://aclanthology	PROPN
dad-13359	642	3	.	.	PUNCT
dad-13359	642	4	org	org	PROPN
dad-13359	642	5	/	/	SYM
dad-13359	642	6	w17	w17	PROPN
dad-13359	642	7	-	-	PUNCT
dad-13359	642	8	5506	5506	NUM
dad-13359	642	9	.	.	PUNCT
dad-13359	643	1	mihail	mihail	PROPN
dad-13359	643	2	eric	eric	PROPN
dad-13359	643	3	,	,	PUNCT
dad-13359	643	4	nicole	nicole	PROPN
dad-13359	643	5	chartier	chartier	NOUN
dad-13359	643	6	,	,	PUNCT
dad-13359	643	7	behnam	behnam	PROPN
dad-13359	643	8	hedayatnia	hedayatnia	PROPN
dad-13359	643	9	,	,	PUNCT
dad-13359	643	10	karthik	karthik	PROPN
dad-13359	643	11	gopalakrishnan	gopalakrishnan	PROPN
dad-13359	643	12	,	,	PUNCT
dad-13359	643	13	pankaj	pankaj	PROPN
dad-13359	643	14	rajan	rajan	PROPN
dad-13359	643	15	,	,	PUNCT
dad-13359	643	16	yang	yang	PROPN
dad-13359	643	17	liu	liu	PROPN
dad-13359	643	18	,	,	PUNCT
dad-13359	643	19	and	and	CCONJ
dad-13359	643	20	dilek	dilek	PROPN
dad-13359	643	21	hakkani	hakkani	PROPN
dad-13359	643	22	-	-	PUNCT
dad-13359	643	23	tur	tur	PROPN
dad-13359	643	24	.	.	PUNCT
dad-13359	643	25	multi	multi	ADJ
dad-13359	643	26	-	-	ADJ
dad-13359	643	27	sentence	sentence	ADJ
dad-13359	643	28	knowledge	knowledge	NOUN
dad-13359	643	29	selection	selection	NOUN
dad-13359	643	30	in	in	ADP
dad-13359	643	31	open	open	ADJ
dad-13359	643	32	-	-	PUNCT
dad-13359	643	33	domain	domain	NOUN
dad-13359	643	34	dialogue	dialogue	NOUN
dad-13359	643	35	.	.	PUNCT
dad-13359	644	1	in	in	ADP
dad-13359	644	2	proceedings	proceeding	NOUN
dad-13359	644	3	of	of	ADP
dad-13359	644	4	the	the	DET
dad-13359	644	5	14th	14th	ADJ
dad-13359	644	6	international	international	ADJ
dad-13359	644	7	conference	conference	NOUN
dad-13359	644	8	on	on	ADP
dad-13359	644	9	natural	natural	ADJ
dad-13359	644	10	language	language	NOUN
dad-13359	644	11	generation	generation	NOUN
dad-13359	644	12	,	,	PUNCT
dad-13359	644	13	pages	page	NOUN
dad-13359	644	14	76	76	NUM
dad-13359	644	15	–	–	PUNCT
dad-13359	644	16	86	86	NUM
dad-13359	644	17	,	,	PUNCT
dad-13359	644	18	aberdeen	aberdeen	PROPN
dad-13359	644	19	,	,	PUNCT
dad-13359	644	20	scotland	scotland	PROPN
dad-13359	644	21	,	,	PUNCT
dad-13359	644	22	uk	uk	PROPN
dad-13359	644	23	,	,	PUNCT
dad-13359	644	24	august	august	PROPN
dad-13359	644	25	2021	2021	NUM
dad-13359	644	26	.	.	PUNCT
dad-13359	645	1	association	association	NOUN
dad-13359	645	2	for	for	ADP
dad-13359	645	3	computational	computational	ADJ
dad-13359	645	4	linguistics	linguistic	NOUN
dad-13359	645	5	.	.	PUNCT
dad-13359	645	6	url	url	PROPN
dad-13359	646	1	https://aclanthology.org/2021.inlg-1.9	https://aclanthology.org/2021.inlg-1.9	PROPN
dad-13359	646	2	.	.	PROPN
dad-13359	646	3	vikas	vikas	PROPN
dad-13359	646	4	garg	garg	PROPN
dad-13359	646	5	,	,	PUNCT
dad-13359	646	6	stefanie	stefanie	PROPN
dad-13359	646	7	jegelka	jegelka	PROPN
dad-13359	646	8	,	,	PUNCT
dad-13359	646	9	and	and	CCONJ
dad-13359	646	10	tommi	tommi	PROPN
dad-13359	646	11	jaakkola	jaakkola	PROPN
dad-13359	646	12	.	.	PUNCT
dad-13359	647	1	generalization	generalization	NOUN
dad-13359	647	2	and	and	CCONJ
dad-13359	647	3	representational	representational	ADJ
dad-13359	647	4	limits	limit	NOUN
dad-13359	647	5	of	of	ADP
dad-13359	647	6	graph	graph	NOUN
dad-13359	647	7	neural	neural	ADJ
dad-13359	647	8	networks	network	NOUN
dad-13359	647	9	.	.	PUNCT
dad-13359	648	1	in	in	ADP
dad-13359	648	2	international	international	ADJ
dad-13359	648	3	conference	conference	NOUN
dad-13359	648	4	on	on	ADP
dad-13359	648	5	machine	machine	NOUN
dad-13359	648	6	learning	learning	NOUN
dad-13359	648	7	,	,	PUNCT
dad-13359	648	8	pages	page	NOUN
dad-13359	648	9	3419–3430	3419–3430	NUM
dad-13359	648	10	.	.	PUNCT
dad-13359	648	11	pmlr	pmlr	NOUN
dad-13359	648	12	,	,	PUNCT
dad-13359	648	13	2020	2020	NUM
dad-13359	648	14	.	.	PUNCT
dad-13359	649	1	url	url	PROPN
dad-13359	649	2	https://proceedings.mlr.press/v119/garg20c/garg20c	https://proceedings.mlr.press/v119/garg20c/garg20c	NOUN
dad-13359	649	3	.	.	PUNCT
dad-13359	650	1	pdf	pdf	NOUN
dad-13359	650	2	.	.	PUNCT
dad-13359	651	1	michael	michael	PROPN
dad-13359	651	2	a	a	DET
dad-13359	651	3	goodrich	goodrich	NOUN
dad-13359	651	4	,	,	PUNCT
dad-13359	651	5	alan	alan	PROPN
dad-13359	651	6	c	c	PROPN
dad-13359	651	7	schultz	schultz	PROPN
dad-13359	651	8	,	,	PUNCT
dad-13359	651	9	et	et	PROPN
dad-13359	651	10	al	al	PROPN
dad-13359	651	11	.	.	PUNCT
dad-13359	652	1	human	human	ADJ
dad-13359	652	2	–	–	PUNCT
dad-13359	652	3	robot	robot	NOUN
dad-13359	652	4	interaction	interaction	NOUN
dad-13359	652	5	:	:	PUNCT
dad-13359	652	6	a	a	DET
dad-13359	652	7	survey	survey	NOUN
dad-13359	652	8	.	.	PUNCT
dad-13359	653	1	foundations	foundation	NOUN
dad-13359	653	2	and	and	CCONJ
dad-13359	653	3	trends	trend	NOUN
dad-13359	653	4	®	®	NOUN
dad-13359	653	5	in	in	ADP
dad-13359	653	6	human	human	ADJ
dad-13359	653	7	–	–	PUNCT
dad-13359	653	8	computer	computer	NOUN
dad-13359	653	9	interaction	interaction	NOUN
dad-13359	653	10	,	,	PUNCT
dad-13359	653	11	1(3):203–275	1(3):203–275	NUM
dad-13359	653	12	,	,	PUNCT
dad-13359	653	13	2008	2008	NUM
dad-13359	653	14	.	.	PUNCT
dad-13359	654	1	url	url	PROPN
dad-13359	654	2	https://dl.acm	https://dl.acm	NOUN
dad-13359	654	3	.	.	PUNCT
dad-13359	655	1	org	org	ADJ
dad-13359	655	2	/	/	SYM
dad-13359	655	3	doi	doi	NOUN
dad-13359	655	4	/	/	SYM
dad-13359	655	5	abs/10.1561/1100000005	abs/10.1561/1100000005	PROPN
dad-13359	655	6	.	.	PUNCT
dad-13359	656	1	milan	milan	PROPN
dad-13359	656	2	gritta	gritta	PROPN
dad-13359	656	3	,	,	PUNCT
dad-13359	656	4	gerasimos	gerasimos	NOUN
dad-13359	656	5	lampouras	lampoura	NOUN
dad-13359	656	6	,	,	PUNCT
dad-13359	656	7	and	and	CCONJ
dad-13359	656	8	ignacio	ignacio	PROPN
dad-13359	656	9	iacobacci	iacobacci	PROPN
dad-13359	656	10	.	.	PUNCT
dad-13359	657	1	conversation	conversation	NOUN
dad-13359	657	2	graph	graph	NOUN
dad-13359	657	3	:	:	PUNCT
dad-13359	657	4	data	data	NOUN
dad-13359	657	5	augmentation	augmentation	NOUN
dad-13359	657	6	,	,	PUNCT
dad-13359	657	7	training	training	NOUN
dad-13359	657	8	,	,	PUNCT
dad-13359	657	9	and	and	CCONJ
dad-13359	657	10	evaluation	evaluation	NOUN
dad-13359	657	11	for	for	ADP
dad-13359	657	12	non	non	ADJ
dad-13359	657	13	-	-	ADJ
dad-13359	657	14	deterministic	deterministic	ADJ
dad-13359	657	15	dialogue	dialogue	NOUN
dad-13359	657	16	management	management	NOUN
dad-13359	657	17	.	.	PUNCT
dad-13359	658	1	transactions	transaction	NOUN
dad-13359	658	2	of	of	ADP
dad-13359	658	3	the	the	DET
dad-13359	658	4	association	association	NOUN
dad-13359	658	5	for	for	ADP
dad-13359	658	6	computational	computational	ADJ
dad-13359	658	7	linguistics	linguistic	NOUN
dad-13359	658	8	,	,	PUNCT
dad-13359	658	9	9:36–52	9:36–52	NUM
dad-13359	658	10	,	,	PUNCT
dad-13359	658	11	2021	2021	NUM
dad-13359	658	12	.	.	PUNCT
dad-13359	659	1	url	url	PROPN
dad-13359	659	2	https://aclanthology	https://aclanthology	PROPN
dad-13359	659	3	.	.	PUNCT
dad-13359	660	1	org/2021.tacl-1.3/.	org/2021.tacl-1.3/.	PROPN
dad-13359	660	2	tanmay	tanmay	NOUN
dad-13359	660	3	gupta	gupta	PROPN
dad-13359	660	4	and	and	CCONJ
dad-13359	660	5	aniruddha	aniruddha	NOUN
dad-13359	660	6	kembhavi	kembhavi	VERB
dad-13359	660	7	.	.	PUNCT
dad-13359	661	1	visual	visual	ADJ
dad-13359	661	2	programming	programming	NOUN
dad-13359	661	3	:	:	PUNCT
dad-13359	661	4	compositional	compositional	ADJ
dad-13359	661	5	visual	visual	ADJ
dad-13359	661	6	reasoning	reasoning	NOUN
dad-13359	661	7	without	without	ADP
dad-13359	661	8	training	training	NOUN
dad-13359	661	9	.	.	PUNCT
dad-13359	662	1	in	in	ADP
dad-13359	662	2	proceedings	proceeding	NOUN
dad-13359	662	3	of	of	ADP
dad-13359	662	4	the	the	DET
dad-13359	662	5	ieee	ieee	NOUN
dad-13359	662	6	/	/	SYM
dad-13359	662	7	cvf	cvf	NOUN
dad-13359	662	8	conference	conference	NOUN
dad-13359	662	9	on	on	ADP
dad-13359	662	10	computer	computer	NOUN
dad-13359	662	11	vision	vision	NOUN
dad-13359	662	12	and	and	CCONJ
dad-13359	662	13	pattern	pattern	NOUN
dad-13359	662	14	recognition	recognition	NOUN
dad-13359	662	15	,	,	PUNCT
dad-13359	662	16	pages	page	NOUN
dad-13359	662	17	14953–14962	14953–14962	NUM
dad-13359	662	18	,	,	PUNCT
dad-13359	662	19	2023	2023	NUM
dad-13359	662	20	.	.	PUNCT
dad-13359	662	21	url	url	PROPN
dad-13359	662	22	https://openaccess.thecvf.com/	https://openaccess.thecvf.com/	NOUN
dad-13359	662	23	content	content	NOUN
dad-13359	662	24	/	/	SYM
dad-13359	662	25	cvpr2023	cvpr2023	PROPN
dad-13359	662	26	/	/	SYM
dad-13359	662	27	papers	paper	NOUN
dad-13359	662	28	/	/	SYM
dad-13359	662	29	gupta_visual_programming_compositional	gupta_visual_programming_compositional	ADJ
dad-13359	662	30	_	_	PRON
dad-13359	663	1	visual_reasoning_without_training_cvpr_2023_paper.pdf	visual_reasoning_without_training_cvpr_2023_paper.pdf	PROPN
dad-13359	663	2	.	.	PROPN
dad-13359	663	3	will	will	AUX
dad-13359	663	4	hamilton	hamilton	PROPN
dad-13359	663	5	,	,	PUNCT
dad-13359	663	6	zhitao	zhitao	PROPN
dad-13359	663	7	ying	ying	PROPN
dad-13359	663	8	,	,	PUNCT
dad-13359	663	9	and	and	CCONJ
dad-13359	663	10	jure	jure	NOUN
dad-13359	663	11	leskovec	leskovec	PROPN
dad-13359	663	12	.	.	PROPN
dad-13359	663	13	inductive	inductive	ADJ
dad-13359	663	14	representation	representation	NOUN
dad-13359	663	15	learning	learn	VERB
dad-13359	663	16	on	on	ADP
dad-13359	663	17	large	large	ADJ
dad-13359	663	18	graphs	graph	NOUN
dad-13359	663	19	.	.	PUNCT
dad-13359	664	1	advances	advance	NOUN
dad-13359	664	2	in	in	ADP
dad-13359	664	3	neural	neural	ADJ
dad-13359	664	4	information	information	NOUN
dad-13359	664	5	processing	processing	NOUN
dad-13359	664	6	systems	system	NOUN
dad-13359	664	7	,	,	PUNCT
dad-13359	664	8	30	30	NUM
dad-13359	664	9	,	,	PUNCT
dad-13359	664	10	2017	2017	NUM
dad-13359	664	11	.	.	PUNCT
dad-13359	665	1	url	url	X
dad-13359	665	2	https://proceedings.neurips.cc/paper/2017/file/	https://proceedings.neurips.cc/paper/2017/file/	ADP
dad-13359	665	3	5dd9db5e033da9c6fb5ba83c7a7ebea9-paper.pdf	5dd9db5e033da9c6fb5ba83c7a7ebea9-paper.pdf	NOUN
dad-13359	665	4	.	.	PUNCT
dad-13359	666	1	88	88	NUM
dad-13359	666	2	http://www2.ipcku.kansai-u.ac.jp/~yasumuro/m_infomedia/paper/douglas73.pdf	http://www2.ipcku.kansai-u.ac.jp/~yasumuro/m_infomedia/paper/douglas73.pdf	PROPN
dad-13359	666	3	http://www2.ipcku.kansai-u.ac.jp/~yasumuro/m_infomedia/paper/douglas73.pdf	http://www2.ipcku.kansai-u.ac.jp/~yasumuro/m_infomedia/paper/douglas73.pdf	PROPN
dad-13359	666	4	https://arxiv.org/pdf/2303.03378.pdf?trk=public_post_comment-text	https://arxiv.org/pdf/2303.03378.pdf?trk=public_post_comment-text	PROPN
dad-13359	666	5	https://arxiv.org/pdf/2303.03378.pdf?trk=public_post_comment-text	https://arxiv.org/pdf/2303.03378.pdf?trk=public_post_comment-text	PROPN
dad-13359	666	6	https://arxiv.org/pdf/2305.18654.pdf	https://arxiv.org/pdf/2305.18654.pdf	PROPN
dad-13359	666	7	https://arxiv.org/pdf/2305.18654.pdf	https://arxiv.org/pdf/2305.18654.pdf	PROPN
dad-13359	666	8	https://aclanthology.org/w17-5506	https://aclanthology.org/w17-5506	PROPN
dad-13359	666	9	https://aclanthology.org/w17-5506	https://aclanthology.org/w17-5506	PROPN
dad-13359	666	10	https://aclanthology.org/2021.inlg-1.9	https://aclanthology.org/2021.inlg-1.9	PROPN
dad-13359	666	11	https://proceedings.mlr.press/v119/garg20c/garg20c.pdf	https://proceedings.mlr.press/v119/garg20c/garg20c.pdf	PROPN
dad-13359	666	12	https://proceedings.mlr.press/v119/garg20c/garg20c.pdf	https://proceedings.mlr.press/v119/garg20c/garg20c.pdf	PROPN
dad-13359	666	13	https://dl.acm.org/doi/abs/10.1561/1100000005	https://dl.acm.org/doi/abs/10.1561/1100000005	NUM
dad-13359	666	14	https://dl.acm.org/doi/abs/10.1561/1100000005	https://dl.acm.org/doi/abs/10.1561/1100000005	NUM
dad-13359	666	15	https://aclanthology.org/2021.tacl-1.3/	https://aclanthology.org/2021.tacl-1.3/	VERB
dad-13359	667	1	https://aclanthology.org/2021.tacl-1.3/	https://aclanthology.org/2021.tacl-1.3/	VERB
dad-13359	667	2	https://openaccess.thecvf.com/content/cvpr2023/papers/gupta_visual_programming_compositional_visual_reasoning_without_training_cvpr_2023_paper.pdf	https://openaccess.thecvf.com/content/cvpr2023/papers/gupta_visual_programming_compositional_visual_reasoning_without_training_cvpr_2023_paper.pdf	NOUN
dad-13359	667	3	https://openaccess.thecvf.com/content/cvpr2023/papers/gupta_visual_programming_compositional_visual_reasoning_without_training_cvpr_2023_paper.pdf	https://openaccess.thecvf.com/content/cvpr2023/papers/gupta_visual_programming_compositional_visual_reasoning_without_training_cvpr_2023_paper.pdf	NOUN
dad-13359	667	4	https://openaccess.thecvf.com/content/cvpr2023/papers/gupta_visual_programming_compositional_visual_reasoning_without_training_cvpr_2023_paper.pdf	https://openaccess.thecvf.com/content/cvpr2023/papers/gupta_visual_programming_compositional_visual_reasoning_without_training_cvpr_2023_paper.pdf	NOUN
dad-13359	667	5	https://proceedings.neurips.cc/paper/2017/file/5dd9db5e033da9c6fb5ba83c7a7ebea9-paper.pdf	https://proceedings.neurips.cc/paper/2017/file/5dd9db5e033da9c6fb5ba83c7a7ebea9-paper.pdf	PROPN
dad-13359	667	6	https://proceedings.neurips.cc/paper/2017/file/5dd9db5e033da9c6fb5ba83c7a7ebea9-paper.pdf	https://proceedings.neurips.cc/paper/2017/file/5dd9db5e033da9c6fb5ba83c7a7ebea9-paper.pdf	VERB
dad-13359	667	7	a	a	DET
dad-13359	667	8	graph	graph	NOUN
dad-13359	667	9	-	-	PUNCT
dad-13359	667	10	to	to	ADP
dad-13359	667	11	-	-	PUNCT
dad-13359	667	12	text	text	NOUN
dad-13359	667	13	approach	approach	NOUN
dad-13359	667	14	to	to	ADP
dad-13359	667	15	knowledge	knowledge	NOUN
dad-13359	667	16	-	-	PUNCT
dad-13359	667	17	grounded	ground	VERB
dad-13359	667	18	response	response	NOUN
dad-13359	667	19	generation	generation	NOUN
dad-13359	667	20	in	in	ADP
dad-13359	667	21	hri	hri	PROPN
dad-13359	667	22	huang	huang	PROPN
dad-13359	667	23	he	he	PROPN
dad-13359	667	24	,	,	PUNCT
dad-13359	667	25	hua	hua	PROPN
dad-13359	667	26	lu	lu	PROPN
dad-13359	667	27	,	,	PUNCT
dad-13359	667	28	siqi	siqi	PROPN
dad-13359	667	29	bao	bao	PROPN
dad-13359	667	30	,	,	PUNCT
dad-13359	667	31	fan	fan	PROPN
dad-13359	667	32	wang	wang	PROPN
dad-13359	667	33	,	,	PUNCT
dad-13359	667	34	hua	hua	PROPN
dad-13359	667	35	wu	wu	PROPN
dad-13359	667	36	,	,	PUNCT
dad-13359	667	37	zheng	zheng	PROPN
dad-13359	667	38	-	-	PUNCT
dad-13359	667	39	yu	yu	PROPN
dad-13359	667	40	niu	niu	PROPN
dad-13359	667	41	,	,	PUNCT
dad-13359	667	42	and	and	CCONJ
dad-13359	667	43	haifeng	haifeng	PROPN
dad-13359	667	44	wang	wang	PROPN
dad-13359	667	45	.	.	PUNCT
dad-13359	668	1	learning	learn	VERB
dad-13359	668	2	to	to	PART
dad-13359	668	3	select	select	VERB
dad-13359	668	4	external	external	ADJ
dad-13359	668	5	knowledge	knowledge	NOUN
dad-13359	668	6	with	with	ADP
dad-13359	668	7	multi	multi	ADJ
dad-13359	668	8	-	-	ADJ
dad-13359	668	9	scale	scale	ADJ
dad-13359	668	10	negative	negative	ADJ
dad-13359	668	11	sampling	sampling	NOUN
dad-13359	668	12	.	.	PUNCT
dad-13359	669	1	ieee	ieee	PROPN
dad-13359	669	2	/	/	SYM
dad-13359	669	3	acm	acm	PROPN
dad-13359	669	4	transactions	transaction	NOUN
dad-13359	669	5	on	on	ADP
dad-13359	669	6	audio	audio	NOUN
dad-13359	669	7	,	,	PUNCT
dad-13359	669	8	speech	speech	NOUN
dad-13359	669	9	,	,	PUNCT
dad-13359	669	10	and	and	CCONJ
dad-13359	669	11	language	language	NOUN
dad-13359	669	12	processing	processing	NOUN
dad-13359	669	13	,	,	PUNCT
dad-13359	669	14	pages	page	NOUN
dad-13359	669	15	1–7	1–7	NUM
dad-13359	669	16	,	,	PUNCT
dad-13359	669	17	2023	2023	NUM
dad-13359	669	18	.	.	PUNCT
dad-13359	670	1	doi	doi	NOUN
dad-13359	670	2	:	:	PUNCT
dad-13359	670	3	10.1109	10.1109	NUM
dad-13359	670	4	/	/	SYM
dad-13359	670	5	taslp.2023.3301222	taslp.2023.3301222	NOUN
dad-13359	670	6	.	.	PUNCT
dad-13359	671	1	url	url	PROPN
dad-13359	671	2	https://ieeexplore.ieee.org/document/10202207	https://ieeexplore.ieee.org/document/10202207	NOUN
dad-13359	671	3	.	.	PUNCT
dad-13359	672	1	ehsan	ehsan	PROPN
dad-13359	672	2	hosseini	hosseini	PROPN
dad-13359	672	3	-	-	PUNCT
dad-13359	672	4	asl	asl	PROPN
dad-13359	672	5	,	,	PUNCT
dad-13359	672	6	bryan	bryan	PROPN
dad-13359	672	7	mccann	mccann	PROPN
dad-13359	672	8	,	,	PUNCT
dad-13359	672	9	chien	chien	PROPN
dad-13359	672	10	-	-	PUNCT
dad-13359	672	11	sheng	sheng	PROPN
dad-13359	672	12	wu	wu	PROPN
dad-13359	672	13	,	,	PUNCT
dad-13359	672	14	semih	semih	PROPN
dad-13359	672	15	yavuz	yavuz	PROPN
dad-13359	672	16	,	,	PUNCT
dad-13359	672	17	and	and	CCONJ
dad-13359	672	18	richard	richard	PROPN
dad-13359	672	19	socher	socher	PROPN
dad-13359	672	20	.	.	PUNCT
dad-13359	673	1	a	a	DET
dad-13359	673	2	simple	simple	ADJ
dad-13359	673	3	language	language	NOUN
dad-13359	673	4	model	model	NOUN
dad-13359	673	5	for	for	ADP
dad-13359	673	6	task	task	NOUN
dad-13359	673	7	-	-	PUNCT
dad-13359	673	8	oriented	orient	VERB
dad-13359	673	9	dialogue	dialogue	NOUN
dad-13359	673	10	.	.	PUNCT
dad-13359	674	1	advances	advance	NOUN
dad-13359	674	2	in	in	ADP
dad-13359	674	3	neural	neural	ADJ
dad-13359	674	4	information	information	NOUN
dad-13359	674	5	processing	processing	NOUN
dad-13359	674	6	systems	system	NOUN
dad-13359	674	7	,	,	PUNCT
dad-13359	674	8	33:20179–20191	33:20179–20191	NUM
dad-13359	674	9	,	,	PUNCT
dad-13359	674	10	2020	2020	NUM
dad-13359	674	11	.	.	PUNCT
dad-13359	675	1	url	url	PROPN
dad-13359	675	2	https://proceedings.neurips.cc/paper/	https://proceedings.neurips.cc/paper/	PROPN
dad-13359	675	3	2020	2020	NUM
dad-13359	675	4	/	/	SYM
dad-13359	675	5	file	file	NOUN
dad-13359	675	6	/	/	SYM
dad-13359	675	7	e946209592563be0f01c844ab2170f0c	e946209592563be0f01c844ab2170f0c	NOUN
dad-13359	675	8	-	-	NOUN
dad-13359	675	9	paper.pdf	paper.pdf	NOUN
dad-13359	675	10	.	.	PUNCT
dad-13359	676	1	julian	julian	PROPN
dad-13359	676	2	hough	hough	PROPN
dad-13359	676	3	and	and	CCONJ
dad-13359	676	4	david	david	PROPN
dad-13359	676	5	schlangen	schlangen	PROPN
dad-13359	676	6	.	.	PUNCT
dad-13359	677	1	it	it	PRON
dad-13359	677	2	’s	’	VERB
dad-13359	677	3	not	not	PART
dad-13359	677	4	what	what	PRON
dad-13359	677	5	you	you	PRON
dad-13359	677	6	do	do	VERB
dad-13359	677	7	,	,	PUNCT
dad-13359	677	8	it	it	PRON
dad-13359	677	9	’s	’	VERB
dad-13359	677	10	how	how	SCONJ
dad-13359	677	11	you	you	PRON
dad-13359	677	12	do	do	VERB
dad-13359	677	13	it	it	PRON
dad-13359	677	14	:	:	PUNCT
dad-13359	677	15	grounding	ground	VERB
dad-13359	677	16	uncertainty	uncertainty	NOUN
dad-13359	677	17	for	for	ADP
dad-13359	677	18	a	a	DET
dad-13359	677	19	simple	simple	ADJ
dad-13359	677	20	robot	robot	NOUN
dad-13359	677	21	.	.	PUNCT
dad-13359	678	1	in	in	ADP
dad-13359	678	2	proceedings	proceeding	NOUN
dad-13359	678	3	of	of	ADP
dad-13359	678	4	the	the	DET
dad-13359	678	5	2017	2017	NUM
dad-13359	678	6	acm	acm	NOUN
dad-13359	678	7	/	/	SYM
dad-13359	678	8	ieee	ieee	PROPN
dad-13359	678	9	international	international	ADJ
dad-13359	678	10	conference	conference	NOUN
dad-13359	678	11	on	on	ADP
dad-13359	678	12	humanrobot	humanrobot	PROPN
dad-13359	678	13	interaction	interaction	NOUN
dad-13359	678	14	,	,	PUNCT
dad-13359	678	15	pages	page	NOUN
dad-13359	678	16	274–282	274–282	NUM
dad-13359	678	17	,	,	PUNCT
dad-13359	678	18	2017	2017	NUM
dad-13359	678	19	.	.	PUNCT
dad-13359	679	1	url	url	PROPN
dad-13359	679	2	https://clp.ling.uni-potsdam.de/	https://clp.ling.uni-potsdam.de/	NOUN
dad-13359	679	3	publications	publication	NOUN
dad-13359	679	4	/	/	SYM
dad-13359	679	5	hough-2017	hough-2017	NOUN
dad-13359	679	6	-	-	PUNCT
dad-13359	679	7	3.pdf	3.pdf	NOUN
dad-13359	679	8	.	.	PUNCT
dad-13359	680	1	wenlong	wenlong	PROPN
dad-13359	680	2	huang	huang	PROPN
dad-13359	680	3	,	,	PUNCT
dad-13359	680	4	fei	fei	PROPN
dad-13359	680	5	xia	xia	PROPN
dad-13359	680	6	,	,	PUNCT
dad-13359	680	7	ted	ted	PROPN
dad-13359	680	8	xiao	xiao	PROPN
dad-13359	680	9	,	,	PUNCT
dad-13359	680	10	harris	harris	PROPN
dad-13359	680	11	chan	chan	PROPN
dad-13359	680	12	,	,	PUNCT
dad-13359	680	13	jacky	jacky	PROPN
dad-13359	680	14	liang	liang	PROPN
dad-13359	680	15	,	,	PUNCT
dad-13359	680	16	pete	pete	PROPN
dad-13359	680	17	florence	florence	PROPN
dad-13359	680	18	,	,	PUNCT
dad-13359	680	19	andy	andy	PROPN
dad-13359	680	20	zeng	zeng	PROPN
dad-13359	680	21	,	,	PUNCT
dad-13359	680	22	jonathan	jonathan	PROPN
dad-13359	680	23	tompson	tompson	PROPN
dad-13359	680	24	,	,	PUNCT
dad-13359	680	25	igor	igor	PROPN
dad-13359	680	26	mordatch	mordatch	PROPN
dad-13359	680	27	,	,	PUNCT
dad-13359	680	28	yevgen	yevgen	PROPN
dad-13359	680	29	chebotar	chebotar	PROPN
dad-13359	680	30	,	,	PUNCT
dad-13359	680	31	et	et	PROPN
dad-13359	680	32	al	al	PROPN
dad-13359	680	33	.	.	PUNCT
dad-13359	681	1	inner	inner	ADJ
dad-13359	681	2	monologue	monologue	NOUN
dad-13359	681	3	:	:	PUNCT
dad-13359	681	4	embodied	embody	VERB
dad-13359	681	5	reasoning	reason	VERB
dad-13359	681	6	through	through	ADP
dad-13359	681	7	planning	plan	VERB
dad-13359	681	8	with	with	ADP
dad-13359	681	9	language	language	NOUN
dad-13359	681	10	models	model	NOUN
dad-13359	681	11	.	.	PUNCT
dad-13359	682	1	in	in	ADP
dad-13359	682	2	6th	6th	ADJ
dad-13359	682	3	annual	annual	ADJ
dad-13359	682	4	conference	conference	NOUN
dad-13359	682	5	on	on	ADP
dad-13359	682	6	robot	robot	NOUN
dad-13359	682	7	learning	learning	NOUN
dad-13359	682	8	,	,	PUNCT
dad-13359	682	9	2022	2022	NUM
dad-13359	682	10	.	.	PUNCT
dad-13359	682	11	url	url	PROPN
dad-13359	682	12	https://openreview.net/pdf?id=3r3pz5i0tye	https://openreview.net/pdf?id=3r3pz5i0tye	PROPN
dad-13359	682	13	.	.	PUNCT
dad-13359	683	1	vojtěch	vojtěch	PROPN
dad-13359	683	2	hudeček	hudeček	PROPN
dad-13359	683	3	and	and	CCONJ
dad-13359	683	4	ondřej	ondřej	PROPN
dad-13359	683	5	dušek	dušek	PROPN
dad-13359	683	6	.	.	PUNCT
dad-13359	684	1	are	be	AUX
dad-13359	684	2	llms	llm	NOUN
dad-13359	684	3	all	all	PRON
dad-13359	684	4	you	you	PRON
dad-13359	684	5	need	need	VERB
dad-13359	684	6	for	for	ADP
dad-13359	684	7	task	task	NOUN
dad-13359	684	8	-	-	PUNCT
dad-13359	684	9	oriented	orient	VERB
dad-13359	684	10	dialogue	dialogue	NOUN
dad-13359	684	11	?	?	PUNCT
dad-13359	685	1	arxiv	arxiv	PROPN
dad-13359	685	2	preprint	preprint	NOUN
dad-13359	685	3	arxiv:2304.06556	arxiv:2304.06556	NOUN
dad-13359	685	4	,	,	PUNCT
dad-13359	685	5	2023	2023	NUM
dad-13359	685	6	.	.	PUNCT
dad-13359	686	1	url	url	PROPN
dad-13359	686	2	https://arxiv.org/pdf/2304.06556	https://arxiv.org/pdf/2304.06556	NOUN
dad-13359	686	3	.	.	PUNCT
dad-13359	687	1	ziwei	ziwei	PROPN
dad-13359	687	2	ji	ji	PROPN
dad-13359	687	3	,	,	PUNCT
dad-13359	687	4	nayeon	nayeon	PROPN
dad-13359	687	5	lee	lee	PROPN
dad-13359	687	6	,	,	PUNCT
dad-13359	687	7	rita	rita	PROPN
dad-13359	687	8	frieske	frieske	PROPN
dad-13359	687	9	,	,	PUNCT
dad-13359	687	10	tiezheng	tiezheng	PROPN
dad-13359	687	11	yu	yu	PROPN
dad-13359	687	12	,	,	PUNCT
dad-13359	687	13	dan	dan	PROPN
dad-13359	687	14	su	su	PROPN
dad-13359	687	15	,	,	PUNCT
dad-13359	687	16	yan	yan	PROPN
dad-13359	687	17	xu	xu	PROPN
dad-13359	687	18	,	,	PUNCT
dad-13359	687	19	etsuko	etsuko	NOUN
dad-13359	687	20	ishii	ishii	PROPN
dad-13359	687	21	,	,	PUNCT
dad-13359	687	22	ye	ye	PROPN
dad-13359	687	23	jin	jin	PROPN
dad-13359	687	24	bang	bang	PROPN
dad-13359	687	25	,	,	PUNCT
dad-13359	687	26	andrea	andrea	PROPN
dad-13359	687	27	madotto	madotto	PROPN
dad-13359	687	28	,	,	PUNCT
dad-13359	687	29	and	and	CCONJ
dad-13359	687	30	pascale	pascale	PROPN
dad-13359	687	31	fung	fung	PROPN
dad-13359	687	32	.	.	PUNCT
dad-13359	688	1	survey	survey	NOUN
dad-13359	688	2	of	of	ADP
dad-13359	688	3	hallucination	hallucination	NOUN
dad-13359	688	4	in	in	ADP
dad-13359	688	5	natural	natural	ADJ
dad-13359	688	6	language	language	NOUN
dad-13359	688	7	generation	generation	NOUN
dad-13359	688	8	.	.	PUNCT
dad-13359	689	1	acm	acm	PROPN
dad-13359	689	2	computing	computing	NOUN
dad-13359	689	3	surveys	survey	NOUN
dad-13359	689	4	,	,	PUNCT
dad-13359	689	5	55(12):1–38	55(12):1–38	NUM
dad-13359	689	6	,	,	PUNCT
dad-13359	689	7	2023	2023	NUM
dad-13359	689	8	.	.	PUNCT
dad-13359	689	9	url	url	VERB
dad-13359	689	10	https://dl.acm.org/doi/10.1145/	https://dl.acm.org/doi/10.1145/	PROPN
dad-13359	689	11	3571730	3571730	NUM
dad-13359	689	12	.	.	PUNCT
dad-13359	690	1	jaehun	jaehun	PROPN
dad-13359	690	2	jung	jung	PROPN
dad-13359	690	3	,	,	PUNCT
dad-13359	690	4	bokyung	bokyung	PROPN
dad-13359	690	5	son	son	PROPN
dad-13359	690	6	,	,	PUNCT
dad-13359	690	7	and	and	CCONJ
dad-13359	690	8	sungwon	sungwon	VERB
dad-13359	690	9	lyu	lyu	NOUN
dad-13359	690	10	.	.	PUNCT
dad-13359	691	1	attnio	attnio	PROPN
dad-13359	691	2	:	:	PUNCT
dad-13359	691	3	knowledge	knowledge	NOUN
dad-13359	691	4	graph	graph	NOUN
dad-13359	691	5	exploration	exploration	NOUN
dad-13359	691	6	with	with	ADP
dad-13359	691	7	inand	inand	NOUN
dad-13359	691	8	-	-	PUNCT
dad-13359	691	9	out	out	ADP
dad-13359	691	10	attention	attention	NOUN
dad-13359	691	11	flow	flow	NOUN
dad-13359	691	12	for	for	ADP
dad-13359	691	13	knowledge	knowledge	NOUN
dad-13359	691	14	-	-	PUNCT
dad-13359	691	15	grounded	ground	VERB
dad-13359	691	16	dialogue	dialogue	NOUN
dad-13359	691	17	.	.	PUNCT
dad-13359	692	1	in	in	ADP
dad-13359	692	2	proceedings	proceeding	NOUN
dad-13359	692	3	of	of	ADP
dad-13359	692	4	the	the	DET
dad-13359	692	5	2020	2020	NUM
dad-13359	692	6	conference	conference	NOUN
dad-13359	692	7	on	on	ADP
dad-13359	692	8	empirical	empirical	ADJ
dad-13359	692	9	methods	method	NOUN
dad-13359	692	10	in	in	ADP
dad-13359	692	11	natural	natural	ADJ
dad-13359	692	12	language	language	NOUN
dad-13359	692	13	processing	processing	NOUN
dad-13359	692	14	(	(	PUNCT
dad-13359	692	15	emnlp	emnlp	ADJ
dad-13359	692	16	)	)	PUNCT
dad-13359	692	17	,	,	PUNCT
dad-13359	692	18	pages	page	NOUN
dad-13359	692	19	3484–3497	3484–3497	NUM
dad-13359	692	20	,	,	PUNCT
dad-13359	692	21	online	online	ADJ
dad-13359	692	22	,	,	PUNCT
dad-13359	692	23	november	november	PROPN
dad-13359	692	24	2020	2020	NUM
dad-13359	692	25	.	.	PUNCT
dad-13359	693	1	association	association	NOUN
dad-13359	693	2	for	for	ADP
dad-13359	693	3	computational	computational	ADJ
dad-13359	693	4	linguistics	linguistic	NOUN
dad-13359	693	5	.	.	PUNCT
dad-13359	694	1	doi	doi	NOUN
dad-13359	694	2	:	:	PUNCT
dad-13359	694	3	10.18653	10.18653	NUM
dad-13359	694	4	/	/	SYM
dad-13359	694	5	v1/2020	v1/2020	NOUN
dad-13359	694	6	.	.	PUNCT
dad-13359	695	1	emnlp	emnlp	PROPN
dad-13359	695	2	-	-	PUNCT
dad-13359	695	3	main.280	main.280	NOUN
dad-13359	695	4	.	.	PUNCT
dad-13359	696	1	url	url	PROPN
dad-13359	696	2	https://aclanthology.org/2020.emnlp-main.280	https://aclanthology.org/2020.emnlp-main.280	PROPN
dad-13359	696	3	.	.	PUNCT
dad-13359	697	1	jack	jack	PROPN
dad-13359	697	2	lanchantin	lanchantin	PROPN
dad-13359	697	3	,	,	PUNCT
dad-13359	697	4	sainbayar	sainbayar	ADV
dad-13359	697	5	sukhbaatar	sukhbaatar	ADV
dad-13359	697	6	,	,	PUNCT
dad-13359	697	7	gabriel	gabriel	PROPN
dad-13359	697	8	synnaeve	synnaeve	PROPN
dad-13359	697	9	,	,	PUNCT
dad-13359	697	10	yuxuan	yuxuan	PROPN
dad-13359	697	11	sun	sun	PROPN
dad-13359	697	12	,	,	PUNCT
dad-13359	697	13	kavya	kavya	PROPN
dad-13359	697	14	srinet	srinet	PROPN
dad-13359	697	15	,	,	PUNCT
dad-13359	697	16	and	and	CCONJ
dad-13359	697	17	arthur	arthur	PROPN
dad-13359	697	18	szlam	szlam	PROPN
dad-13359	697	19	.	.	PUNCT
dad-13359	698	1	a	a	DET
dad-13359	698	2	data	data	NOUN
dad-13359	698	3	source	source	NOUN
dad-13359	698	4	for	for	ADP
dad-13359	698	5	reasoning	reason	VERB
dad-13359	698	6	embodied	embody	VERB
dad-13359	698	7	agents	agent	NOUN
dad-13359	698	8	.	.	PUNCT
dad-13359	699	1	in	in	ADP
dad-13359	699	2	proceedings	proceeding	NOUN
dad-13359	699	3	of	of	ADP
dad-13359	699	4	the	the	DET
dad-13359	699	5	aaai	aaai	PROPN
dad-13359	699	6	conference	conference	NOUN
dad-13359	699	7	on	on	ADP
dad-13359	699	8	artificial	artificial	ADJ
dad-13359	699	9	intelligence	intelligence	NOUN
dad-13359	699	10	,	,	PUNCT
dad-13359	699	11	volume	volume	NOUN
dad-13359	699	12	37	37	NUM
dad-13359	699	13	,	,	PUNCT
dad-13359	699	14	pages	page	NOUN
dad-13359	699	15	8438–8446	8438–8446	NUM
dad-13359	699	16	,	,	PUNCT
dad-13359	699	17	2023	2023	NUM
dad-13359	699	18	.	.	PUNCT
dad-13359	700	1	url	url	PROPN
dad-13359	700	2	https://ojs.aaai.org/	https://ojs.aaai.org/	NOUN
dad-13359	700	3	index.php/aaai/article/view/26017/25789	index.php/aaai/article/view/26017/25789	ADV
dad-13359	700	4	.	.	PUNCT
dad-13359	701	1	patrick	patrick	PROPN
dad-13359	701	2	lewis	lewis	PROPN
dad-13359	701	3	,	,	PUNCT
dad-13359	701	4	ethan	ethan	PROPN
dad-13359	701	5	perez	perez	PROPN
dad-13359	701	6	,	,	PUNCT
dad-13359	701	7	aleksandra	aleksandra	PROPN
dad-13359	701	8	piktus	piktus	PROPN
dad-13359	701	9	,	,	PUNCT
dad-13359	701	10	fabio	fabio	PROPN
dad-13359	701	11	petroni	petroni	PROPN
dad-13359	701	12	,	,	PUNCT
dad-13359	701	13	vladimir	vladimir	PROPN
dad-13359	701	14	karpukhin	karpukhin	PROPN
dad-13359	701	15	,	,	PUNCT
dad-13359	701	16	naman	naman	PROPN
dad-13359	701	17	goyal	goyal	PROPN
dad-13359	701	18	,	,	PUNCT
dad-13359	701	19	heinrich	heinrich	NOUN
dad-13359	701	20	küttler	küttler	NOUN
dad-13359	701	21	,	,	PUNCT
dad-13359	701	22	mike	mike	PROPN
dad-13359	701	23	lewis	lewis	PROPN
dad-13359	701	24	,	,	PUNCT
dad-13359	701	25	wen	wen	PROPN
dad-13359	701	26	-	-	PROPN
dad-13359	701	27	tau	tau	PROPN
dad-13359	701	28	yih	yih	PROPN
dad-13359	701	29	,	,	PUNCT
dad-13359	701	30	tim	tim	PROPN
dad-13359	701	31	rocktäschel	rocktäschel	PROPN
dad-13359	701	32	,	,	PUNCT
dad-13359	701	33	et	et	PROPN
dad-13359	701	34	al	al	PROPN
dad-13359	701	35	.	.	PROPN
dad-13359	701	36	retrieval	retrieval	NOUN
dad-13359	701	37	-	-	PUNCT
dad-13359	701	38	augmented	augment	VERB
dad-13359	701	39	generation	generation	NOUN
dad-13359	701	40	for	for	ADP
dad-13359	701	41	knowledge	knowledge	NOUN
dad-13359	701	42	-	-	PUNCT
dad-13359	701	43	intensive	intensive	ADJ
dad-13359	701	44	nlp	nlp	NOUN
dad-13359	701	45	tasks	task	NOUN
dad-13359	701	46	.	.	PUNCT
dad-13359	702	1	advances	advance	NOUN
dad-13359	702	2	in	in	ADP
dad-13359	702	3	neural	neural	ADJ
dad-13359	702	4	information	information	NOUN
dad-13359	702	5	processing	processing	NOUN
dad-13359	702	6	systems	system	NOUN
dad-13359	702	7	,	,	PUNCT
dad-13359	702	8	33:9459–9474	33:9459–9474	NUM
dad-13359	702	9	,	,	PUNCT
dad-13359	702	10	2020	2020	NUM
dad-13359	702	11	.	.	PUNCT
dad-13359	703	1	huayang	huayang	PROPN
dad-13359	703	2	li	li	PROPN
dad-13359	703	3	,	,	PUNCT
dad-13359	703	4	yixuan	yixuan	PROPN
dad-13359	703	5	su	su	PROPN
dad-13359	703	6	,	,	PUNCT
dad-13359	703	7	deng	deng	PROPN
dad-13359	703	8	cai	cai	PROPN
dad-13359	703	9	,	,	PUNCT
dad-13359	703	10	yan	yan	PROPN
dad-13359	703	11	wang	wang	PROPN
dad-13359	703	12	,	,	PUNCT
dad-13359	703	13	and	and	CCONJ
dad-13359	703	14	lemao	lemao	PROPN
dad-13359	703	15	liu	liu	PROPN
dad-13359	703	16	.	.	PUNCT
dad-13359	704	1	a	a	DET
dad-13359	704	2	survey	survey	NOUN
dad-13359	704	3	on	on	ADP
dad-13359	704	4	retrieval	retrieval	NOUN
dad-13359	704	5	-	-	PUNCT
dad-13359	704	6	augmented	augment	VERB
dad-13359	704	7	text	text	NOUN
dad-13359	704	8	generation	generation	NOUN
dad-13359	704	9	.	.	PUNCT
dad-13359	705	1	arxiv	arxiv	PROPN
dad-13359	705	2	preprint	preprint	PROPN
dad-13359	705	3	arxiv:2202.01110	arxiv:2202.01110	PROPN
dad-13359	705	4	,	,	PUNCT
dad-13359	705	5	2022a	2022a	NUM
dad-13359	705	6	.	.	PUNCT
dad-13359	706	1	xinghang	xinghang	PROPN
dad-13359	706	2	li	li	PROPN
dad-13359	706	3	,	,	PUNCT
dad-13359	706	4	di	di	X
dad-13359	706	5	guo	guo	PROPN
dad-13359	706	6	,	,	PUNCT
dad-13359	706	7	huaping	huape	VERB
dad-13359	706	8	liu	liu	PROPN
dad-13359	706	9	,	,	PUNCT
dad-13359	706	10	and	and	CCONJ
dad-13359	706	11	fuchun	fuchun	PROPN
dad-13359	706	12	sun	sun	PROPN
dad-13359	706	13	.	.	PUNCT
dad-13359	706	14	embodied	embody	VERB
dad-13359	706	15	semantic	semantic	ADJ
dad-13359	706	16	scene	scene	NOUN
dad-13359	706	17	graph	graph	NOUN
dad-13359	706	18	generation	generation	NOUN
dad-13359	706	19	.	.	PUNCT
dad-13359	707	1	in	in	ADP
dad-13359	707	2	conference	conference	NOUN
dad-13359	707	3	on	on	ADP
dad-13359	707	4	robot	robot	NOUN
dad-13359	707	5	learning	learning	NOUN
dad-13359	707	6	,	,	PUNCT
dad-13359	707	7	pages	page	NOUN
dad-13359	707	8	1585–1594	1585–1594	NUM
dad-13359	707	9	.	.	PUNCT
dad-13359	707	10	pmlr	pmlr	NOUN
dad-13359	707	11	,	,	PUNCT
dad-13359	707	12	2022b	2022b	NUM
dad-13359	707	13	.	.	PUNCT
dad-13359	708	1	url	url	PROPN
dad-13359	708	2	https	https	NOUN
dad-13359	708	3	:	:	PUNCT
dad-13359	709	1	//proceedings.mlr.press	//proceedings.mlr.press	PUNCT
dad-13359	709	2	/	/	SYM
dad-13359	709	3	v164	v164	NOUN
dad-13359	709	4	/	/	SYM
dad-13359	709	5	li22e	li22e	NOUN
dad-13359	709	6	/	/	SYM
dad-13359	709	7	li22e.pdf	li22e.pdf	PROPN
dad-13359	709	8	.	.	PUNCT
dad-13359	710	1	89	89	NUM
dad-13359	710	2	https://ieeexplore.ieee.org/document/10202207	https://ieeexplore.ieee.org/document/10202207	PROPN
dad-13359	710	3	https://proceedings.neurips.cc/paper/2020/file/e946209592563be0f01c844ab2170f0c-paper.pdf	https://proceedings.neurips.cc/paper/2020/file/e946209592563be0f01c844ab2170f0c-paper.pdf	PROPN
dad-13359	710	4	https://proceedings.neurips.cc/paper/2020/file/e946209592563be0f01c844ab2170f0c-paper.pdf	https://proceedings.neurips.cc/paper/2020/file/e946209592563be0f01c844ab2170f0c-paper.pdf	PROPN
dad-13359	710	5	https://clp.ling.uni-potsdam.de/publications/hough-2017-3.pdf	https://clp.ling.uni-potsdam.de/publications/hough-2017-3.pdf	PROPN
dad-13359	710	6	https://clp.ling.uni-potsdam.de/publications/hough-2017-3.pdf	https://clp.ling.uni-potsdam.de/publications/hough-2017-3.pdf	PROPN
dad-13359	710	7	https://openreview.net/pdf?id=3r3pz5i0tye	https://openreview.net/pdf?id=3r3pz5i0tye	PROPN
dad-13359	710	8	https://arxiv.org/pdf/2304.06556	https://arxiv.org/pdf/2304.06556	NOUN
dad-13359	710	9	https://dl.acm.org/doi/10.1145/3571730	https://dl.acm.org/doi/10.1145/3571730	ADV
dad-13359	710	10	https://dl.acm.org/doi/10.1145/3571730	https://dl.acm.org/doi/10.1145/3571730	ADV
dad-13359	710	11	https://aclanthology.org/2020.emnlp-main.280	https://aclanthology.org/2020.emnlp-main.280	PROPN
dad-13359	710	12	https://ojs.aaai.org/index.php/aaai/article/view/26017/25789	https://ojs.aaai.org/index.php/aaai/article/view/26017/25789	NOUN
dad-13359	710	13	https://ojs.aaai.org/index.php/aaai/article/view/26017/25789	https://ojs.aaai.org/index.php/aaai/article/view/26017/25789	VERB
dad-13359	710	14	https://proceedings.mlr.press/v164/li22e/li22e.pdf	https://proceedings.mlr.press/v164/li22e/li22e.pdf	PROPN
dad-13359	710	15	https://proceedings.mlr.press/v164/li22e/li22e.pdf	https://proceedings.mlr.press/v164/li22e/li22e.pdf	PROPN
dad-13359	710	16	walker	walker	PROPN
dad-13359	710	17	,	,	PUNCT
dad-13359	710	18	ultes	ulte	NOUN
dad-13359	710	19	and	and	CCONJ
dad-13359	710	20	lison	lison	NOUN
dad-13359	710	21	qika	qika	X
dad-13359	710	22	lin	lin	PROPN
dad-13359	710	23	,	,	PUNCT
dad-13359	710	24	rui	rui	PROPN
dad-13359	710	25	mao	mao	PROPN
dad-13359	710	26	,	,	PUNCT
dad-13359	710	27	jun	jun	PROPN
dad-13359	710	28	liu	liu	PROPN
dad-13359	710	29	,	,	PUNCT
dad-13359	710	30	fangzhi	fangzhi	PROPN
dad-13359	710	31	xu	xu	PROPN
dad-13359	710	32	,	,	PUNCT
dad-13359	710	33	and	and	CCONJ
dad-13359	710	34	erik	erik	PROPN
dad-13359	710	35	cambria	cambria	PROPN
dad-13359	710	36	.	.	PUNCT
dad-13359	711	1	fusing	fuse	VERB
dad-13359	711	2	topology	topology	NOUN
dad-13359	711	3	contexts	context	NOUN
dad-13359	711	4	and	and	CCONJ
dad-13359	711	5	logical	logical	ADJ
dad-13359	711	6	rules	rule	NOUN
dad-13359	711	7	in	in	ADP
dad-13359	711	8	language	language	NOUN
dad-13359	711	9	models	model	NOUN
dad-13359	711	10	for	for	ADP
dad-13359	711	11	knowledge	knowledge	NOUN
dad-13359	711	12	graph	graph	NOUN
dad-13359	711	13	completion	completion	NOUN
dad-13359	711	14	.	.	PUNCT
dad-13359	712	1	information	information	NOUN
dad-13359	712	2	fusion	fusion	NOUN
dad-13359	712	3	,	,	PUNCT
dad-13359	712	4	90:253–264	90:253–264	NUM
dad-13359	712	5	,	,	PUNCT
dad-13359	712	6	2023	2023	NUM
dad-13359	712	7	.	.	PUNCT
dad-13359	713	1	url	url	PROPN
dad-13359	713	2	http://ww.sentic.net/knowledge-graph-completion.pdf	http://ww.sentic.net/knowledge-graph-completion.pdf	PROPN
dad-13359	713	3	.	.	PROPN
dad-13359	713	4	pengfei	pengfei	PROPN
dad-13359	713	5	liu	liu	PROPN
dad-13359	713	6	,	,	PUNCT
dad-13359	713	7	weizhe	weizhe	PROPN
dad-13359	713	8	yuan	yuan	PROPN
dad-13359	713	9	,	,	PUNCT
dad-13359	713	10	jinlan	jinlan	PROPN
dad-13359	713	11	fu	fu	PROPN
dad-13359	713	12	,	,	PUNCT
dad-13359	713	13	zhengbao	zhengbao	PROPN
dad-13359	713	14	jiang	jiang	PROPN
dad-13359	713	15	,	,	PUNCT
dad-13359	713	16	hiroaki	hiroaki	PROPN
dad-13359	713	17	hayashi	hayashi	PROPN
dad-13359	713	18	,	,	PUNCT
dad-13359	713	19	and	and	CCONJ
dad-13359	713	20	graham	graham	PROPN
dad-13359	713	21	neubig	neubig	PROPN
dad-13359	713	22	.	.	PUNCT
dad-13359	714	1	pretrain	pretrain	NOUN
dad-13359	714	2	,	,	PUNCT
dad-13359	714	3	prompt	prompt	ADJ
dad-13359	714	4	,	,	PUNCT
dad-13359	714	5	and	and	CCONJ
dad-13359	714	6	predict	predict	VERB
dad-13359	714	7	:	:	PUNCT
dad-13359	714	8	a	a	DET
dad-13359	714	9	systematic	systematic	ADJ
dad-13359	714	10	survey	survey	NOUN
dad-13359	714	11	of	of	ADP
dad-13359	714	12	prompting	prompt	VERB
dad-13359	714	13	methods	method	NOUN
dad-13359	714	14	in	in	ADP
dad-13359	714	15	natural	natural	ADJ
dad-13359	714	16	language	language	NOUN
dad-13359	714	17	processing	processing	NOUN
dad-13359	714	18	.	.	PUNCT
dad-13359	715	1	acm	acm	PROPN
dad-13359	715	2	computing	computing	NOUN
dad-13359	715	3	surveys	survey	NOUN
dad-13359	715	4	,	,	PUNCT
dad-13359	715	5	55(9):1–35	55(9):1–35	NUM
dad-13359	715	6	,	,	PUNCT
dad-13359	715	7	2023	2023	NUM
dad-13359	715	8	.	.	PUNCT
dad-13359	716	1	url	url	PROPN
dad-13359	716	2	https://dl.acm.org/doi/	https://dl.acm.org/doi/	NOUN
dad-13359	716	3	pdf/10.1145/3560815?trk	pdf/10.1145/3560815?trk	NOUN
dad-13359	716	4	=	=	SYM
dad-13359	716	5	public_post_comment	public_post_comment	NOUN
dad-13359	716	6	-	-	NOUN
dad-13359	716	7	text	text	NOUN
dad-13359	716	8	.	.	PUNCT
dad-13359	717	1	corey	corey	PROPN
dad-13359	717	2	lynch	lynch	PROPN
dad-13359	717	3	,	,	PUNCT
dad-13359	717	4	ayzaan	ayzaan	PROPN
dad-13359	717	5	wahid	wahid	PROPN
dad-13359	717	6	,	,	PUNCT
dad-13359	717	7	jonathan	jonathan	PROPN
dad-13359	717	8	tompson	tompson	PROPN
dad-13359	717	9	,	,	PUNCT
dad-13359	717	10	tianli	tianli	PROPN
dad-13359	717	11	ding	ding	PROPN
dad-13359	717	12	,	,	PUNCT
dad-13359	717	13	james	james	PROPN
dad-13359	717	14	betker	betker	PROPN
dad-13359	717	15	,	,	PUNCT
dad-13359	717	16	robert	robert	PROPN
dad-13359	717	17	baruch	baruch	PROPN
dad-13359	717	18	,	,	PUNCT
dad-13359	717	19	travis	travis	PROPN
dad-13359	717	20	armstrong	armstrong	PROPN
dad-13359	717	21	,	,	PUNCT
dad-13359	717	22	and	and	CCONJ
dad-13359	717	23	pete	pete	PROPN
dad-13359	717	24	florence	florence	NOUN
dad-13359	717	25	.	.	PUNCT
dad-13359	718	1	interactive	interactive	ADJ
dad-13359	718	2	language	language	NOUN
dad-13359	718	3	:	:	PUNCT
dad-13359	718	4	talking	talk	VERB
dad-13359	718	5	to	to	ADP
dad-13359	718	6	robots	robot	NOUN
dad-13359	718	7	in	in	ADP
dad-13359	718	8	real	real	ADJ
dad-13359	718	9	time	time	NOUN
dad-13359	718	10	.	.	PUNCT
dad-13359	719	1	ieee	ieee	NOUN
dad-13359	719	2	robotics	robotic	NOUN
dad-13359	719	3	and	and	CCONJ
dad-13359	719	4	automation	automation	NOUN
dad-13359	719	5	letters	letter	NOUN
dad-13359	719	6	,	,	PUNCT
dad-13359	719	7	2023	2023	NUM
dad-13359	719	8	.	.	PUNCT
dad-13359	720	1	url	url	PROPN
dad-13359	720	2	https://ieeexplore.ieee.org/iel7/	https://ieeexplore.ieee.org/iel7/	ADV
dad-13359	720	3	7083369/7339444/10182264.pdf	7083369/7339444/10182264.pdf	NUM
dad-13359	720	4	.	.	PUNCT
dad-13359	720	5	blanca	blanca	PROPN
dad-13359	720	6	miller	miller	PROPN
dad-13359	720	7	and	and	CCONJ
dad-13359	720	8	david	david	PROPN
dad-13359	720	9	feil	feil	PROPN
dad-13359	720	10	-	-	PUNCT
dad-13359	720	11	seifer	seifer	PROPN
dad-13359	720	12	.	.	PUNCT
dad-13359	721	1	embodiment	embodiment	NOUN
dad-13359	721	2	,	,	PUNCT
dad-13359	721	3	situatedness	situatedness	NOUN
dad-13359	721	4	,	,	PUNCT
dad-13359	721	5	and	and	CCONJ
dad-13359	721	6	morphology	morphology	NOUN
dad-13359	721	7	for	for	ADP
dad-13359	721	8	humanoid	humanoid	NOUN
dad-13359	721	9	robots	robot	NOUN
dad-13359	721	10	interacting	interact	VERB
dad-13359	721	11	with	with	ADP
dad-13359	721	12	people	people	NOUN
dad-13359	721	13	.	.	PUNCT
dad-13359	722	1	humanoid	humanoid	ADJ
dad-13359	722	2	robotics	robotic	NOUN
dad-13359	722	3	:	:	PUNCT
dad-13359	722	4	a	a	DET
dad-13359	722	5	reference	reference	NOUN
dad-13359	722	6	,	,	PUNCT
dad-13359	722	7	pages	page	NOUN
dad-13359	722	8	1–23	1–23	PROPN
dad-13359	722	9	,	,	PUNCT
dad-13359	722	10	2016	2016	NUM
dad-13359	722	11	.	.	PUNCT
dad-13359	723	1	url	url	PROPN
dad-13359	724	1	https://rrl.cse.unr.edu/media/documents/2017/10	https://rrl.cse.unr.edu/media/documents/2017/10	PROPN
dad-13359	724	2	.	.	PUNCT
dad-13359	725	1	10072f978-94-007-7194-9_130-1.pdf	10072f978-94-007-7194-9_130-1.pdf	NUM
dad-13359	725	2	.	.	PUNCT
dad-13359	726	1	matthias	matthias	PROPN
dad-13359	726	2	minderer	minderer	PROPN
dad-13359	726	3	,	,	PUNCT
dad-13359	726	4	alexey	alexey	PROPN
dad-13359	726	5	gritsenko	gritsenko	PROPN
dad-13359	726	6	,	,	PUNCT
dad-13359	726	7	austin	austin	PROPN
dad-13359	726	8	stone	stone	PROPN
dad-13359	726	9	,	,	PUNCT
dad-13359	726	10	maxim	maxim	NOUN
dad-13359	726	11	neumann	neumann	PROPN
dad-13359	726	12	,	,	PUNCT
dad-13359	726	13	dirk	dirk	PROPN
dad-13359	726	14	weissenborn	weissenborn	PROPN
dad-13359	726	15	,	,	PUNCT
dad-13359	726	16	alexey	alexey	PROPN
dad-13359	726	17	dosovitskiy	dosovitskiy	PROPN
dad-13359	726	18	,	,	PUNCT
dad-13359	726	19	aravindh	aravindh	NOUN
dad-13359	726	20	mahendran	mahendran	NOUN
dad-13359	726	21	,	,	PUNCT
dad-13359	726	22	anurag	anurag	PROPN
dad-13359	726	23	arnab	arnab	PROPN
dad-13359	726	24	,	,	PUNCT
dad-13359	726	25	mostafa	mostafa	PROPN
dad-13359	726	26	dehghani	dehghani	PROPN
dad-13359	726	27	,	,	PUNCT
dad-13359	726	28	zhuoran	zhuoran	PROPN
dad-13359	726	29	shen	shen	PROPN
dad-13359	726	30	,	,	PUNCT
dad-13359	726	31	xiao	xiao	PROPN
dad-13359	726	32	wang	wang	PROPN
dad-13359	726	33	,	,	PUNCT
dad-13359	726	34	xiaohua	xiaohua	PROPN
dad-13359	726	35	zhai	zhai	PROPN
dad-13359	726	36	,	,	PUNCT
dad-13359	726	37	thomas	thomas	PROPN
dad-13359	726	38	kipf	kipf	PROPN
dad-13359	726	39	,	,	PUNCT
dad-13359	726	40	and	and	CCONJ
dad-13359	726	41	neil	neil	PROPN
dad-13359	726	42	houlsby	houlsby	PROPN
dad-13359	726	43	.	.	PUNCT
dad-13359	727	1	simple	simple	ADJ
dad-13359	727	2	open	open	ADJ
dad-13359	727	3	-	-	PUNCT
dad-13359	727	4	vocabulary	vocabulary	ADJ
dad-13359	727	5	object	object	NOUN
dad-13359	727	6	detection	detection	NOUN
dad-13359	727	7	with	with	ADP
dad-13359	727	8	vision	vision	NOUN
dad-13359	727	9	transformers	transformer	NOUN
dad-13359	727	10	.	.	PUNCT
dad-13359	728	1	eccv	eccv	ADV
dad-13359	728	2	,	,	PUNCT
dad-13359	728	3	2022	2022	NUM
dad-13359	728	4	.	.	PUNCT
dad-13359	729	1	url	url	VERB
dad-13359	730	1	https://www.ecva.net/papers/eccv	https://www.ecva.net/papers/eccv	NOUN
dad-13359	730	2	_	_	NOUN
dad-13359	730	3	2022	2022	NUM
dad-13359	730	4	/	/	SYM
dad-13359	730	5	papers_eccv	papers_eccv	PROPN
dad-13359	730	6	/	/	SYM
dad-13359	730	7	papers/136700714.pdf	papers/136700714.pdf	PROPN
dad-13359	730	8	.	.	PROPN
dad-13359	730	9	seungwhan	seungwhan	PROPN
dad-13359	730	10	moon	moon	PROPN
dad-13359	730	11	,	,	PUNCT
dad-13359	730	12	pararth	pararth	PROPN
dad-13359	730	13	shah	shah	PROPN
dad-13359	730	14	,	,	PUNCT
dad-13359	730	15	anuj	anuj	PROPN
dad-13359	730	16	kumar	kumar	PROPN
dad-13359	730	17	,	,	PUNCT
dad-13359	730	18	and	and	CCONJ
dad-13359	730	19	rajen	rajen	PROPN
dad-13359	730	20	subba	subba	PROPN
dad-13359	730	21	.	.	PUNCT
dad-13359	731	1	opendialkg	opendialkg	PROPN
dad-13359	731	2	:	:	PUNCT
dad-13359	731	3	explainable	explainable	ADJ
dad-13359	731	4	conversational	conversational	ADJ
dad-13359	731	5	reasoning	reasoning	NOUN
dad-13359	731	6	with	with	ADP
dad-13359	731	7	attention	attention	NOUN
dad-13359	731	8	-	-	PUNCT
dad-13359	731	9	based	base	VERB
dad-13359	731	10	walks	walk	NOUN
dad-13359	731	11	over	over	ADP
dad-13359	731	12	knowledge	knowledge	NOUN
dad-13359	731	13	graphs	graph	NOUN
dad-13359	731	14	.	.	PUNCT
dad-13359	732	1	in	in	ADP
dad-13359	732	2	proceedings	proceeding	NOUN
dad-13359	732	3	of	of	ADP
dad-13359	732	4	the	the	DET
dad-13359	732	5	57th	57th	ADJ
dad-13359	732	6	annual	annual	ADJ
dad-13359	732	7	meeting	meeting	NOUN
dad-13359	732	8	of	of	ADP
dad-13359	732	9	the	the	DET
dad-13359	732	10	association	association	NOUN
dad-13359	732	11	for	for	ADP
dad-13359	732	12	computational	computational	ADJ
dad-13359	732	13	linguistics	linguistic	NOUN
dad-13359	732	14	,	,	PUNCT
dad-13359	732	15	pages	page	NOUN
dad-13359	732	16	845–854	845–854	NUM
dad-13359	732	17	,	,	PUNCT
dad-13359	732	18	florence	florence	NOUN
dad-13359	732	19	,	,	PUNCT
dad-13359	732	20	italy	italy	PROPN
dad-13359	732	21	,	,	PUNCT
dad-13359	732	22	july	july	PROPN
dad-13359	732	23	2019	2019	NUM
dad-13359	732	24	.	.	PUNCT
dad-13359	733	1	association	association	NOUN
dad-13359	733	2	for	for	ADP
dad-13359	733	3	computational	computational	ADJ
dad-13359	733	4	linguistics	linguistic	NOUN
dad-13359	733	5	.	.	PUNCT
dad-13359	734	1	doi	doi	NOUN
dad-13359	734	2	:	:	PUNCT
dad-13359	734	3	10.18653	10.18653	NUM
dad-13359	734	4	/	/	SYM
dad-13359	734	5	v1	v1	NOUN
dad-13359	734	6	/	/	SYM
dad-13359	734	7	p19	p19	NOUN
dad-13359	734	8	-	-	PUNCT
dad-13359	734	9	1081	1081	NUM
dad-13359	734	10	.	.	PUNCT
dad-13359	735	1	url	url	PROPN
dad-13359	735	2	https://aclanthology.org/p19-1081	https://aclanthology.org/p19-1081	PROPN
dad-13359	735	3	.	.	PUNCT
dad-13359	736	1	tomáš	tomáš	VERB
dad-13359	736	2	nekvinda	nekvinda	PROPN
dad-13359	736	3	and	and	CCONJ
dad-13359	736	4	ondřej	ondřej	PROPN
dad-13359	736	5	dušek	dušek	NOUN
dad-13359	736	6	.	.	PUNCT
dad-13359	737	1	aargh	aargh	PROPN
dad-13359	737	2	!	!	PUNCT
dad-13359	738	1	end	end	NOUN
dad-13359	738	2	-	-	PUNCT
dad-13359	738	3	to	to	ADP
dad-13359	738	4	-	-	PUNCT
dad-13359	738	5	end	end	NOUN
dad-13359	738	6	retrieval	retrieval	NOUN
dad-13359	738	7	-	-	PUNCT
dad-13359	738	8	generation	generation	NOUN
dad-13359	738	9	for	for	ADP
dad-13359	738	10	task	task	NOUN
dad-13359	738	11	-	-	PUNCT
dad-13359	738	12	oriented	orient	VERB
dad-13359	738	13	dialog	dialog	NOUN
dad-13359	738	14	.	.	PUNCT
dad-13359	739	1	in	in	ADP
dad-13359	739	2	proceedings	proceeding	NOUN
dad-13359	739	3	of	of	ADP
dad-13359	739	4	the	the	DET
dad-13359	739	5	23rd	23rd	ADJ
dad-13359	739	6	annual	annual	ADJ
dad-13359	739	7	meeting	meeting	NOUN
dad-13359	739	8	of	of	ADP
dad-13359	739	9	the	the	DET
dad-13359	739	10	special	special	ADJ
dad-13359	739	11	interest	interest	NOUN
dad-13359	739	12	group	group	NOUN
dad-13359	739	13	on	on	ADP
dad-13359	739	14	discourse	discourse	NOUN
dad-13359	739	15	and	and	CCONJ
dad-13359	739	16	dialogue	dialogue	NOUN
dad-13359	739	17	,	,	PUNCT
dad-13359	739	18	pages	page	NOUN
dad-13359	739	19	283–297	283–297	NUM
dad-13359	739	20	,	,	PUNCT
dad-13359	739	21	2022	2022	NUM
dad-13359	739	22	.	.	PUNCT
dad-13359	740	1	url	url	PROPN
dad-13359	740	2	https://aclanthology.org/2022	https://aclanthology.org/2022	PROPN
dad-13359	740	3	.	.	PUNCT
dad-13359	741	1	sigdial-1.29.pdf	sigdial-1.29.pdf	PROPN
dad-13359	741	2	.	.	PUNCT
dad-13359	742	1	preksha	preksha	PROPN
dad-13359	742	2	nema	nema	PROPN
dad-13359	742	3	,	,	PUNCT
dad-13359	742	4	shreyas	shreyas	PROPN
dad-13359	742	5	shetty	shetty	PROPN
dad-13359	742	6	,	,	PUNCT
dad-13359	742	7	parag	parag	PROPN
dad-13359	742	8	jain	jain	PROPN
dad-13359	742	9	,	,	PUNCT
dad-13359	742	10	anirban	anirban	PROPN
dad-13359	742	11	laha	laha	PROPN
dad-13359	742	12	,	,	PUNCT
dad-13359	742	13	karthik	karthik	PROPN
dad-13359	742	14	sankaranarayanan	sankaranarayanan	PROPN
dad-13359	742	15	,	,	PUNCT
dad-13359	742	16	and	and	CCONJ
dad-13359	742	17	mitesh	mitesh	PROPN
dad-13359	742	18	m.	m.	PROPN
dad-13359	742	19	khapra	khapra	PROPN
dad-13359	742	20	.	.	PUNCT
dad-13359	743	1	generating	generate	VERB
dad-13359	743	2	descriptions	description	NOUN
dad-13359	743	3	from	from	ADP
dad-13359	743	4	structured	structured	ADJ
dad-13359	743	5	data	datum	NOUN
dad-13359	743	6	using	use	VERB
dad-13359	743	7	a	a	DET
dad-13359	743	8	bifocal	bifocal	ADJ
dad-13359	743	9	attention	attention	NOUN
dad-13359	743	10	mechanism	mechanism	NOUN
dad-13359	743	11	and	and	CCONJ
dad-13359	743	12	gated	gate	VERB
dad-13359	743	13	orthogonalization	orthogonalization	NOUN
dad-13359	743	14	.	.	PUNCT
dad-13359	744	1	in	in	ADP
dad-13359	744	2	proceedings	proceeding	NOUN
dad-13359	744	3	of	of	ADP
dad-13359	744	4	the	the	DET
dad-13359	744	5	2018	2018	NUM
dad-13359	744	6	conference	conference	NOUN
dad-13359	744	7	of	of	ADP
dad-13359	744	8	the	the	DET
dad-13359	744	9	north	north	ADJ
dad-13359	744	10	american	american	ADJ
dad-13359	744	11	chapter	chapter	NOUN
dad-13359	744	12	of	of	ADP
dad-13359	744	13	the	the	DET
dad-13359	744	14	association	association	NOUN
dad-13359	744	15	for	for	ADP
dad-13359	744	16	computational	computational	ADJ
dad-13359	744	17	linguistics	linguistic	NOUN
dad-13359	744	18	:	:	PUNCT
dad-13359	744	19	human	human	ADJ
dad-13359	744	20	language	language	NOUN
dad-13359	744	21	technologies	technology	NOUN
dad-13359	744	22	,	,	PUNCT
dad-13359	744	23	volume	volume	NOUN
dad-13359	744	24	1	1	NUM
dad-13359	744	25	(	(	PUNCT
dad-13359	744	26	long	long	ADJ
dad-13359	744	27	papers	paper	NOUN
dad-13359	744	28	)	)	PUNCT
dad-13359	744	29	,	,	PUNCT
dad-13359	744	30	pages	page	NOUN
dad-13359	744	31	1539–1550	1539–1550	NUM
dad-13359	744	32	,	,	PUNCT
dad-13359	744	33	new	new	PROPN
dad-13359	744	34	orleans	orleans	PROPN
dad-13359	744	35	,	,	PUNCT
dad-13359	744	36	louisiana	louisiana	PROPN
dad-13359	744	37	,	,	PUNCT
dad-13359	744	38	june	june	PROPN
dad-13359	744	39	2018	2018	NUM
dad-13359	744	40	.	.	PUNCT
dad-13359	745	1	association	association	NOUN
dad-13359	745	2	for	for	ADP
dad-13359	745	3	computational	computational	ADJ
dad-13359	745	4	linguistics	linguistic	NOUN
dad-13359	745	5	.	.	PUNCT
dad-13359	746	1	doi	doi	NOUN
dad-13359	746	2	:	:	PUNCT
dad-13359	746	3	10.18653	10.18653	NUM
dad-13359	746	4	/	/	SYM
dad-13359	746	5	v1	v1	NOUN
dad-13359	746	6	/	/	SYM
dad-13359	746	7	n18	n18	PROPN
dad-13359	746	8	-	-	PUNCT
dad-13359	746	9	1139	1139	NUM
dad-13359	746	10	.	.	PUNCT
dad-13359	747	1	url	url	PROPN
dad-13359	747	2	https://aclanthology	https://aclanthology	PROPN
dad-13359	747	3	.	.	PUNCT
dad-13359	747	4	org	org	PROPN
dad-13359	747	5	/	/	SYM
dad-13359	747	6	n18	n18	PROPN
dad-13359	747	7	-	-	PUNCT
dad-13359	747	8	1139	1139	NUM
dad-13359	747	9	.	.	PUNCT
dad-13359	748	1	openai	openai	PROPN
dad-13359	748	2	.	.	PUNCT
dad-13359	749	1	gpt-4	gpt-4	PART
dad-13359	749	2	technical	technical	ADJ
dad-13359	749	3	report	report	NOUN
dad-13359	749	4	,	,	PUNCT
dad-13359	749	5	2023	2023	NUM
dad-13359	749	6	.	.	PUNCT
dad-13359	750	1	url	url	PROPN
dad-13359	750	2	https://arxiv.org/abs/2303.08774	https://arxiv.org/abs/2303.08774	NOUN
dad-13359	750	3	.	.	PUNCT
dad-13359	751	1	alexandros	alexandros	PROPN
dad-13359	751	2	papangelis	papangelis	PROPN
dad-13359	751	3	and	and	CCONJ
dad-13359	751	4	stefan	stefan	PROPN
dad-13359	751	5	ultes	ultes	PROPN
dad-13359	751	6	.	.	PUNCT
dad-13359	752	1	towards	towards	ADP
dad-13359	752	2	meaningful	meaningful	ADJ
dad-13359	752	3	,	,	PUNCT
dad-13359	752	4	grounded	ground	VERB
dad-13359	752	5	conversations	conversation	NOUN
dad-13359	752	6	with	with	ADP
dad-13359	752	7	intelligent	intelligent	ADJ
dad-13359	752	8	agents	agent	NOUN
dad-13359	752	9	.	.	PUNCT
dad-13359	753	1	arxiv	arxiv	PROPN
dad-13359	753	2	preprint	preprint	NOUN
dad-13359	753	3	arxiv:2006.15768	arxiv:2006.15768	NOUN
dad-13359	753	4	,	,	PUNCT
dad-13359	753	5	2020	2020	NUM
dad-13359	753	6	.	.	PUNCT
dad-13359	754	1	url	url	PROPN
dad-13359	754	2	https://arxiv.org/pdf/	https://arxiv.org/pdf/	DET
dad-13359	754	3	2006.15768	2006.15768	NOUN
dad-13359	754	4	.	.	PUNCT
dad-13359	755	1	90	90	NUM
dad-13359	755	2	http://ww.sentic.net/knowledge-graph-completion.pdf	http://ww.sentic.net/knowledge-graph-completion.pdf	PROPN
dad-13359	755	3	https://dl.acm.org/doi/pdf/10.1145/3560815?trk=public_post_comment-text	https://dl.acm.org/doi/pdf/10.1145/3560815?trk=public_post_comment-text	PROPN
dad-13359	755	4	https://dl.acm.org/doi/pdf/10.1145/3560815?trk=public_post_comment-text	https://dl.acm.org/doi/pdf/10.1145/3560815?trk=public_post_comment-text	PROPN
dad-13359	755	5	https://ieeexplore.ieee.org/iel7/7083369/7339444/10182264.pdf	https://ieeexplore.ieee.org/iel7/7083369/7339444/10182264.pdf	PROPN
dad-13359	755	6	https://ieeexplore.ieee.org/iel7/7083369/7339444/10182264.pdf	https://ieeexplore.ieee.org/iel7/7083369/7339444/10182264.pdf	VERB
dad-13359	755	7	https://rrl.cse.unr.edu/media/documents/2017/10.10072f978-94-007-7194-9_130-1.pdf	https://rrl.cse.unr.edu/media/documents/2017/10.10072f978-94-007-7194-9_130-1.pdf	VERB
dad-13359	755	8	https://rrl.cse.unr.edu/media/documents/2017/10.10072f978-94-007-7194-9_130-1.pdf	https://rrl.cse.unr.edu/media/documents/2017/10.10072f978-94-007-7194-9_130-1.pdf	NOUN
dad-13359	756	1	https://www.ecva.net/papers/eccv_2022/papers_eccv/papers/136700714.pdf	https://www.ecva.net/papers/eccv_2022/papers_eccv/papers/136700714.pdf	NOUN
dad-13359	756	2	https://www.ecva.net/papers/eccv_2022/papers_eccv/papers/136700714.pdf	https://www.ecva.net/papers/eccv_2022/papers_eccv/papers/136700714.pdf	NOUN
dad-13359	756	3	https://aclanthology.org/p19-1081	https://aclanthology.org/p19-1081	PROPN
dad-13359	756	4	https://aclanthology.org/2022.sigdial-1.29.pdf	https://aclanthology.org/2022.sigdial-1.29.pdf	NOUN
dad-13359	756	5	https://aclanthology.org/2022.sigdial-1.29.pdf	https://aclanthology.org/2022.sigdial-1.29.pdf	NOUN
dad-13359	756	6	https://aclanthology.org/n18-1139	https://aclanthology.org/n18-1139	PROPN
dad-13359	756	7	https://aclanthology.org/n18-1139	https://aclanthology.org/n18-1139	ADJ
dad-13359	756	8	https://arxiv.org/abs/2303.08774	https://arxiv.org/abs/2303.08774	NOUN
dad-13359	756	9	https://arxiv.org/pdf/2006.15768	https://arxiv.org/pdf/2006.15768	PROPN
dad-13359	756	10	https://arxiv.org/pdf/2006.15768	https://arxiv.org/pdf/2006.15768	VERB
dad-13359	756	11	a	a	DET
dad-13359	756	12	graph	graph	NOUN
dad-13359	756	13	-	-	PUNCT
dad-13359	756	14	to	to	ADP
dad-13359	756	15	-	-	PUNCT
dad-13359	756	16	text	text	NOUN
dad-13359	756	17	approach	approach	NOUN
dad-13359	756	18	to	to	ADP
dad-13359	756	19	knowledge	knowledge	NOUN
dad-13359	756	20	-	-	PUNCT
dad-13359	756	21	grounded	ground	VERB
dad-13359	756	22	response	response	NOUN
dad-13359	756	23	generation	generation	NOUN
dad-13359	756	24	in	in	ADP
dad-13359	756	25	hri	hri	PROPN
dad-13359	756	26	baolin	baolin	PROPN
dad-13359	756	27	peng	peng	PROPN
dad-13359	756	28	,	,	PUNCT
dad-13359	756	29	chenguang	chenguang	PROPN
dad-13359	756	30	zhu	zhu	PROPN
dad-13359	756	31	,	,	PUNCT
dad-13359	756	32	chunyuan	chunyuan	PROPN
dad-13359	756	33	li	li	PROPN
dad-13359	756	34	,	,	PUNCT
dad-13359	756	35	xiujun	xiujun	PROPN
dad-13359	756	36	li	li	PROPN
dad-13359	756	37	,	,	PUNCT
dad-13359	756	38	jinchao	jinchao	PROPN
dad-13359	756	39	li	li	PROPN
dad-13359	756	40	,	,	PUNCT
dad-13359	756	41	michael	michael	PROPN
dad-13359	756	42	zeng	zeng	PROPN
dad-13359	756	43	,	,	PUNCT
dad-13359	756	44	and	and	CCONJ
dad-13359	756	45	jianfeng	jianfeng	PROPN
dad-13359	756	46	gao	gao	PROPN
dad-13359	756	47	.	.	PUNCT
dad-13359	757	1	few	few	ADJ
dad-13359	757	2	-	-	PUNCT
dad-13359	757	3	shot	shoot	VERB
dad-13359	757	4	natural	natural	ADJ
dad-13359	757	5	language	language	NOUN
dad-13359	757	6	generation	generation	NOUN
dad-13359	757	7	for	for	ADP
dad-13359	757	8	task	task	NOUN
dad-13359	757	9	-	-	PUNCT
dad-13359	757	10	oriented	orient	VERB
dad-13359	757	11	dialog	dialog	NOUN
dad-13359	757	12	.	.	PUNCT
dad-13359	758	1	in	in	ADP
dad-13359	758	2	findings	finding	NOUN
dad-13359	758	3	of	of	ADP
dad-13359	758	4	the	the	DET
dad-13359	758	5	association	association	NOUN
dad-13359	758	6	for	for	ADP
dad-13359	758	7	computational	computational	ADJ
dad-13359	758	8	linguistics	linguistic	NOUN
dad-13359	758	9	:	:	PUNCT
dad-13359	758	10	emnlp	emnlp	PROPN
dad-13359	758	11	2020	2020	NUM
dad-13359	758	12	,	,	PUNCT
dad-13359	758	13	pages	page	NOUN
dad-13359	758	14	172–182	172–182	NUM
dad-13359	758	15	,	,	PUNCT
dad-13359	758	16	2020	2020	NUM
dad-13359	758	17	.	.	PUNCT
dad-13359	759	1	url	url	PROPN
dad-13359	759	2	https://aclanthology.org/2020.findings-emnlp.17.pdf	https://aclanthology.org/2020.findings-emnlp.17.pdf	PROPN
dad-13359	759	3	.	.	PUNCT
dad-13359	760	1	martin	martin	PROPN
dad-13359	760	2	j	j	PROPN
dad-13359	760	3	pickering	pickering	PROPN
dad-13359	760	4	and	and	CCONJ
dad-13359	760	5	simon	simon	PROPN
dad-13359	760	6	garrod	garrod	PROPN
dad-13359	760	7	.	.	PUNCT
dad-13359	760	8	prediction	prediction	NOUN
dad-13359	760	9	and	and	CCONJ
dad-13359	760	10	embodiment	embodiment	NOUN
dad-13359	760	11	in	in	ADP
dad-13359	760	12	dialogue	dialogue	NOUN
dad-13359	760	13	.	.	PUNCT
dad-13359	761	1	european	european	PROPN
dad-13359	761	2	journal	journal	PROPN
dad-13359	761	3	of	of	ADP
dad-13359	761	4	social	social	ADJ
dad-13359	761	5	psychology	psychology	NOUN
dad-13359	761	6	,	,	PUNCT
dad-13359	761	7	39(7):1162–1168	39(7):1162–1168	NUM
dad-13359	761	8	,	,	PUNCT
dad-13359	761	9	2009	2009	NUM
dad-13359	761	10	.	.	PUNCT
dad-13359	762	1	url	url	PROPN
dad-13359	762	2	https://onlinelibrary.wiley	https://onlinelibrary.wiley	PROPN
dad-13359	762	3	.	.	PUNCT
dad-13359	762	4	com	com	NOUN
dad-13359	762	5	/	/	SYM
dad-13359	762	6	doi	doi	NOUN
dad-13359	762	7	/	/	SYM
dad-13359	762	8	abs/10.1002	abs/10.1002	NOUN
dad-13359	762	9	/	/	SYM
dad-13359	762	10	ejsp.663	ejsp.663	NOUN
dad-13359	762	11	.	.	PUNCT
dad-13359	762	12	plamen	plamen	PROPN
dad-13359	762	13	prodanov	prodanov	PROPN
dad-13359	762	14	and	and	CCONJ
dad-13359	762	15	andrzej	andrzej	PROPN
dad-13359	762	16	drygajlo	drygajlo	NOUN
dad-13359	762	17	.	.	PUNCT
dad-13359	763	1	bayesian	bayesian	NOUN
dad-13359	763	2	networks	network	NOUN
dad-13359	763	3	for	for	ADP
dad-13359	763	4	spoken	spoken	ADJ
dad-13359	763	5	dialogue	dialogue	NOUN
dad-13359	763	6	management	management	NOUN
dad-13359	763	7	in	in	ADP
dad-13359	763	8	multimodal	multimodal	NOUN
dad-13359	763	9	systems	system	NOUN
dad-13359	763	10	of	of	ADP
dad-13359	763	11	tour	tour	NOUN
dad-13359	763	12	-	-	PUNCT
dad-13359	763	13	guide	guide	NOUN
dad-13359	763	14	robots	robot	NOUN
dad-13359	763	15	.	.	PUNCT
dad-13359	764	1	in	in	ADP
dad-13359	764	2	proceedings	proceeding	NOUN
dad-13359	764	3	of	of	ADP
dad-13359	764	4	the	the	DET
dad-13359	764	5	8th	8th	ADJ
dad-13359	764	6	european	european	ADJ
dad-13359	764	7	conference	conference	NOUN
dad-13359	764	8	on	on	ADP
dad-13359	764	9	speech	speech	NOUN
dad-13359	764	10	communication	communication	NOUN
dad-13359	764	11	and	and	CCONJ
dad-13359	764	12	technology	technology	NOUN
dad-13359	764	13	(	(	PUNCT
dad-13359	764	14	eurospeech	eurospeech	NOUN
dad-13359	764	15	)	)	PUNCT
dad-13359	764	16	.	.	PUNCT
dad-13359	765	1	eth	eth	PROPN
dad-13359	765	2	zürich	zürich	PROPN
dad-13359	765	3	,	,	PUNCT
dad-13359	765	4	2003	2003	NUM
dad-13359	765	5	.	.	PUNCT
dad-13359	766	1	url	url	PROPN
dad-13359	766	2	https://www.research-collection.ethz.ch/bitstream/handle/20	https://www.research-collection.ethz.ch/bitstream/handle/20	PROPN
dad-13359	766	3	.	.	PUNCT
dad-13359	767	1	500.11850/82551/1	500.11850/82551/1	PROPN
dad-13359	767	2	/	/	SYM
dad-13359	767	3	eth-8214	eth-8214	ADJ
dad-13359	767	4	-	-	PUNCT
dad-13359	767	5	01.pdf	01.pdf	PROPN
dad-13359	767	6	.	.	PUNCT
dad-13359	768	1	ian	ian	PROPN
dad-13359	768	2	c	c	PROPN
dad-13359	768	3	rankin	rankin	PROPN
dad-13359	768	4	,	,	PUNCT
dad-13359	768	5	seth	seth	PROPN
dad-13359	768	6	mccammon	mccammon	PROPN
dad-13359	768	7	,	,	PUNCT
dad-13359	768	8	and	and	CCONJ
dad-13359	768	9	geoffrey	geoffrey	PROPN
dad-13359	768	10	a	a	DET
dad-13359	768	11	hollinger	hollinger	PROPN
dad-13359	768	12	.	.	PUNCT
dad-13359	769	1	robotic	robotic	ADJ
dad-13359	769	2	information	information	NOUN
dad-13359	769	3	gathering	gathering	NOUN
dad-13359	769	4	using	use	VERB
dad-13359	769	5	semantic	semantic	ADJ
dad-13359	769	6	language	language	NOUN
dad-13359	769	7	instructions	instruction	NOUN
dad-13359	769	8	.	.	PUNCT
dad-13359	770	1	in	in	ADP
dad-13359	770	2	2021	2021	NUM
dad-13359	770	3	ieee	ieee	NOUN
dad-13359	770	4	international	international	ADJ
dad-13359	770	5	conference	conference	NOUN
dad-13359	770	6	on	on	ADP
dad-13359	770	7	robotics	robotic	NOUN
dad-13359	770	8	and	and	CCONJ
dad-13359	770	9	automation	automation	NOUN
dad-13359	770	10	(	(	PUNCT
dad-13359	770	11	icra	icra	PROPN
dad-13359	770	12	)	)	PUNCT
dad-13359	770	13	,	,	PUNCT
dad-13359	770	14	pages	page	NOUN
dad-13359	770	15	4882–4888	4882–4888	NUM
dad-13359	770	16	.	.	PUNCT
dad-13359	770	17	ieee	ieee	NOUN
dad-13359	770	18	,	,	PUNCT
dad-13359	770	19	2021	2021	NUM
dad-13359	770	20	.	.	PUNCT
dad-13359	771	1	url	url	PROPN
dad-13359	771	2	https://par.nsf.gov/servlets/	https://par.nsf.gov/servlets/	PROPN
dad-13359	771	3	purl/10315084	purl/10315084	PROPN
dad-13359	771	4	.	.	PUNCT
dad-13359	772	1	nir	nir	PROPN
dad-13359	772	2	ratner	ratner	PROPN
dad-13359	772	3	,	,	PUNCT
dad-13359	772	4	yoav	yoav	PROPN
dad-13359	772	5	levine	levine	PROPN
dad-13359	772	6	,	,	PUNCT
dad-13359	772	7	yonatan	yonatan	PROPN
dad-13359	772	8	belinkov	belinkov	PROPN
dad-13359	772	9	,	,	PUNCT
dad-13359	772	10	ori	ori	PROPN
dad-13359	772	11	ram	ram	PROPN
dad-13359	772	12	,	,	PUNCT
dad-13359	772	13	inbal	inbal	ADJ
dad-13359	772	14	magar	magar	NOUN
dad-13359	772	15	,	,	PUNCT
dad-13359	772	16	omri	omri	PROPN
dad-13359	772	17	abend	abend	PROPN
dad-13359	772	18	,	,	PUNCT
dad-13359	772	19	ehud	ehud	PROPN
dad-13359	772	20	karpas	karpas	PROPN
dad-13359	772	21	,	,	PUNCT
dad-13359	772	22	amnon	amnon	PROPN
dad-13359	772	23	shashua	shashua	PROPN
dad-13359	772	24	,	,	PUNCT
dad-13359	772	25	kevin	kevin	PROPN
dad-13359	772	26	leyton	leyton	PROPN
dad-13359	772	27	-	-	PUNCT
dad-13359	772	28	brown	brown	NOUN
dad-13359	772	29	,	,	PUNCT
dad-13359	772	30	and	and	CCONJ
dad-13359	772	31	yoav	yoav	PROPN
dad-13359	772	32	shoham	shoham	NOUN
dad-13359	772	33	.	.	PUNCT
dad-13359	773	1	parallel	parallel	ADJ
dad-13359	773	2	context	context	NOUN
dad-13359	773	3	windows	window	NOUN
dad-13359	773	4	for	for	ADP
dad-13359	773	5	large	large	ADJ
dad-13359	773	6	language	language	NOUN
dad-13359	773	7	models	model	NOUN
dad-13359	773	8	.	.	PUNCT
dad-13359	774	1	in	in	ADP
dad-13359	774	2	proceedings	proceeding	NOUN
dad-13359	774	3	of	of	ADP
dad-13359	774	4	the	the	DET
dad-13359	774	5	61st	61st	ADJ
dad-13359	774	6	annual	annual	ADJ
dad-13359	774	7	meeting	meeting	NOUN
dad-13359	774	8	of	of	ADP
dad-13359	774	9	the	the	DET
dad-13359	774	10	association	association	NOUN
dad-13359	774	11	for	for	ADP
dad-13359	774	12	computational	computational	ADJ
dad-13359	774	13	linguistics	linguistic	NOUN
dad-13359	774	14	(	(	PUNCT
dad-13359	774	15	volume	volume	NOUN
dad-13359	774	16	1	1	NUM
dad-13359	774	17	:	:	PUNCT
dad-13359	774	18	long	long	ADJ
dad-13359	774	19	papers	paper	NOUN
dad-13359	774	20	)	)	PUNCT
dad-13359	774	21	,	,	PUNCT
dad-13359	774	22	pages	page	VERB
dad-13359	774	23	6383–6402	6383–6402	NUM
dad-13359	774	24	,	,	PUNCT
dad-13359	774	25	2023	2023	NUM
dad-13359	774	26	.	.	PUNCT
dad-13359	775	1	url	url	PROPN
dad-13359	775	2	https	https	NOUN
dad-13359	775	3	:	:	PUNCT
dad-13359	775	4	//aclanthology.org/2023.acl	//aclanthology.org/2023.acl	PROPN
dad-13359	775	5	-	-	PUNCT
dad-13359	775	6	long.352.pdf	long.352.pdf	PROPN
dad-13359	775	7	.	.	PUNCT
dad-13359	775	8	vipula	vipula	PROPN
dad-13359	775	9	rawte	rawte	PROPN
dad-13359	775	10	,	,	PUNCT
dad-13359	775	11	prachi	prachi	PROPN
dad-13359	775	12	priya	priya	PROPN
dad-13359	775	13	,	,	PUNCT
dad-13359	775	14	sm	sm	PROPN
dad-13359	775	15	tonmoy	tonmoy	PROPN
dad-13359	775	16	,	,	PUNCT
dad-13359	775	17	sm	sm	PROPN
dad-13359	775	18	zaman	zaman	PROPN
dad-13359	775	19	,	,	PUNCT
dad-13359	775	20	amit	amit	PROPN
dad-13359	775	21	sheth	sheth	PROPN
dad-13359	775	22	,	,	PUNCT
dad-13359	775	23	and	and	CCONJ
dad-13359	775	24	amitava	amitava	PROPN
dad-13359	775	25	das	das	PROPN
dad-13359	775	26	.	.	PUNCT
dad-13359	775	27	exploring	explore	VERB
dad-13359	775	28	the	the	DET
dad-13359	775	29	relationship	relationship	NOUN
dad-13359	775	30	between	between	ADP
dad-13359	775	31	llm	llm	PROPN
dad-13359	775	32	hallucinations	hallucination	NOUN
dad-13359	775	33	and	and	CCONJ
dad-13359	775	34	prompt	prompt	ADJ
dad-13359	775	35	linguistic	linguistic	ADJ
dad-13359	775	36	nuances	nuance	NOUN
dad-13359	775	37	:	:	PUNCT
dad-13359	775	38	readability	readability	NOUN
dad-13359	775	39	,	,	PUNCT
dad-13359	775	40	formality	formality	NOUN
dad-13359	775	41	,	,	PUNCT
dad-13359	775	42	and	and	CCONJ
dad-13359	775	43	concreteness	concreteness	NOUN
dad-13359	775	44	.	.	PUNCT
dad-13359	776	1	arxiv	arxiv	PROPN
dad-13359	776	2	preprint	preprint	NOUN
dad-13359	776	3	arxiv:2309.11064	arxiv:2309.11064	NOUN
dad-13359	776	4	,	,	PUNCT
dad-13359	776	5	2023	2023	NUM
dad-13359	776	6	.	.	PUNCT
dad-13359	777	1	url	url	PROPN
dad-13359	777	2	https://arxiv.org/	https://arxiv.org/	PROPN
dad-13359	777	3	pdf/2309.11064	pdf/2309.11064	PROPN
dad-13359	777	4	.	.	PUNCT
dad-13359	778	1	liliang	liliang	PROPN
dad-13359	778	2	ren	ren	PROPN
dad-13359	778	3	,	,	PUNCT
dad-13359	778	4	kaige	kaige	PROPN
dad-13359	778	5	xie	xie	PROPN
dad-13359	778	6	,	,	PUNCT
dad-13359	778	7	lu	lu	PROPN
dad-13359	778	8	chen	chen	PROPN
dad-13359	778	9	,	,	PUNCT
dad-13359	778	10	and	and	CCONJ
dad-13359	778	11	kai	kai	PROPN
dad-13359	778	12	yu	yu	PROPN
dad-13359	778	13	.	.	PROPN
dad-13359	778	14	towards	towards	ADP
dad-13359	778	15	universal	universal	ADJ
dad-13359	778	16	dialogue	dialogue	NOUN
dad-13359	778	17	state	state	NOUN
dad-13359	778	18	tracking	tracking	NOUN
dad-13359	778	19	.	.	PUNCT
dad-13359	779	1	in	in	ADP
dad-13359	779	2	proceedings	proceeding	NOUN
dad-13359	779	3	of	of	ADP
dad-13359	779	4	the	the	DET
dad-13359	779	5	2018	2018	NUM
dad-13359	779	6	conference	conference	NOUN
dad-13359	779	7	on	on	ADP
dad-13359	779	8	empirical	empirical	ADJ
dad-13359	779	9	methods	method	NOUN
dad-13359	779	10	in	in	ADP
dad-13359	779	11	natural	natural	ADJ
dad-13359	779	12	language	language	NOUN
dad-13359	779	13	processing	processing	NOUN
dad-13359	779	14	,	,	PUNCT
dad-13359	779	15	pages	page	NOUN
dad-13359	779	16	2780–2786	2780–2786	NUM
dad-13359	779	17	,	,	PUNCT
dad-13359	779	18	2018	2018	NUM
dad-13359	779	19	.	.	PUNCT
dad-13359	780	1	url	url	PROPN
dad-13359	781	1	https://aclanthology.org/d18-1299.pdf	https://aclanthology.org/d18-1299.pdf	PROPN
dad-13359	781	2	.	.	PUNCT
dad-13359	781	3	stephen	stephen	PROPN
dad-13359	781	4	roller	roller	PROPN
dad-13359	781	5	,	,	PUNCT
dad-13359	781	6	emily	emily	PROPN
dad-13359	781	7	dinan	dinan	PROPN
dad-13359	781	8	,	,	PUNCT
dad-13359	781	9	naman	naman	PROPN
dad-13359	781	10	goyal	goyal	PROPN
dad-13359	781	11	,	,	PUNCT
dad-13359	781	12	da	da	PROPN
dad-13359	781	13	ju	ju	PROPN
dad-13359	781	14	,	,	PUNCT
dad-13359	781	15	mary	mary	PROPN
dad-13359	781	16	williamson	williamson	PROPN
dad-13359	781	17	,	,	PUNCT
dad-13359	781	18	yinhan	yinhan	PROPN
dad-13359	781	19	liu	liu	PROPN
dad-13359	781	20	,	,	PUNCT
dad-13359	781	21	jing	jing	PROPN
dad-13359	781	22	xu	xu	PROPN
dad-13359	781	23	,	,	PUNCT
dad-13359	781	24	myle	myle	PROPN
dad-13359	781	25	ott	ott	PROPN
dad-13359	781	26	,	,	PUNCT
dad-13359	781	27	eric	eric	PROPN
dad-13359	781	28	michael	michael	PROPN
dad-13359	781	29	smith	smith	PROPN
dad-13359	781	30	,	,	PUNCT
dad-13359	781	31	y	y	PROPN
dad-13359	781	32	-	-	PUNCT
dad-13359	781	33	lan	lan	PROPN
dad-13359	781	34	boureau	boureau	NOUN
dad-13359	781	35	,	,	PUNCT
dad-13359	781	36	et	et	PROPN
dad-13359	781	37	al	al	PROPN
dad-13359	781	38	.	.	PROPN
dad-13359	781	39	recipes	recipe	NOUN
dad-13359	781	40	for	for	ADP
dad-13359	781	41	building	build	VERB
dad-13359	781	42	an	an	DET
dad-13359	781	43	open	open	ADJ
dad-13359	781	44	-	-	PUNCT
dad-13359	781	45	domain	domain	NOUN
dad-13359	781	46	chatbot	chatbot	NOUN
dad-13359	781	47	.	.	PUNCT
dad-13359	782	1	in	in	ADP
dad-13359	782	2	proceedings	proceeding	NOUN
dad-13359	782	3	of	of	ADP
dad-13359	782	4	the	the	DET
dad-13359	782	5	16th	16th	ADJ
dad-13359	782	6	conference	conference	NOUN
dad-13359	782	7	of	of	ADP
dad-13359	782	8	the	the	DET
dad-13359	782	9	european	european	ADJ
dad-13359	782	10	chapter	chapter	NOUN
dad-13359	782	11	of	of	ADP
dad-13359	782	12	the	the	DET
dad-13359	782	13	association	association	NOUN
dad-13359	782	14	for	for	ADP
dad-13359	782	15	computational	computational	ADJ
dad-13359	782	16	linguistics	linguistic	NOUN
dad-13359	782	17	:	:	PUNCT
dad-13359	782	18	main	main	ADJ
dad-13359	782	19	volume	volume	NOUN
dad-13359	782	20	,	,	PUNCT
dad-13359	782	21	pages	page	NOUN
dad-13359	782	22	300–325	300–325	NUM
dad-13359	782	23	,	,	PUNCT
dad-13359	782	24	2021	2021	NUM
dad-13359	782	25	.	.	PUNCT
dad-13359	782	26	url	url	PROPN
dad-13359	782	27	https://aclanthology	https://aclanthology	NOUN
dad-13359	782	28	.	.	PUNCT
dad-13359	783	1	org/2021.eacl	org/2021.eacl	ADJ
dad-13359	783	2	-	-	PUNCT
dad-13359	783	3	main.24.pdf	main.24.pdf	PROPN
dad-13359	783	4	.	.	PUNCT
dad-13359	784	1	björn	björn	PROPN
dad-13359	784	2	schuller	schuller	PROPN
dad-13359	784	3	,	,	PUNCT
dad-13359	784	4	stefan	stefan	PROPN
dad-13359	784	5	steidl	steidl	PROPN
dad-13359	784	6	,	,	PUNCT
dad-13359	784	7	anton	anton	NOUN
dad-13359	784	8	batliner	batliner	NOUN
dad-13359	784	9	,	,	PUNCT
dad-13359	784	10	felix	felix	PROPN
dad-13359	784	11	burkhardt	burkhardt	PROPN
dad-13359	784	12	,	,	PUNCT
dad-13359	784	13	laurence	laurence	PROPN
dad-13359	784	14	devillers	deviller	NOUN
dad-13359	784	15	,	,	PUNCT
dad-13359	784	16	christian	christian	ADJ
dad-13359	784	17	müller	müller	NOUN
dad-13359	784	18	,	,	PUNCT
dad-13359	784	19	and	and	CCONJ
dad-13359	784	20	shrikanth	shrikanth	PROPN
dad-13359	784	21	narayanan	narayanan	PROPN
dad-13359	784	22	.	.	PUNCT
dad-13359	785	1	paralinguistics	paralinguistic	NOUN
dad-13359	785	2	in	in	ADP
dad-13359	785	3	speech	speech	NOUN
dad-13359	785	4	and	and	CCONJ
dad-13359	785	5	language	language	NOUN
dad-13359	785	6	—	—	PUNCT
dad-13359	785	7	state	state	NOUN
dad-13359	785	8	-	-	PUNCT
dad-13359	785	9	of	of	ADP
dad-13359	785	10	-	-	PUNCT
dad-13359	785	11	the	the	DET
dad-13359	785	12	-	-	PUNCT
dad-13359	785	13	art	art	NOUN
dad-13359	785	14	and	and	CCONJ
dad-13359	785	15	the	the	DET
dad-13359	785	16	challenge	challenge	NOUN
dad-13359	785	17	.	.	PUNCT
dad-13359	786	1	computer	computer	NOUN
dad-13359	786	2	speech	speech	NOUN
dad-13359	786	3	&	&	CCONJ
dad-13359	786	4	language	language	NOUN
dad-13359	786	5	,	,	PUNCT
dad-13359	786	6	27(1):4–39	27(1):4–39	NUM
dad-13359	786	7	,	,	PUNCT
dad-13359	786	8	2013	2013	NUM
dad-13359	786	9	.	.	PUNCT
dad-13359	787	1	dhruv	dhruv	PROPN
dad-13359	787	2	shah	shah	PROPN
dad-13359	787	3	,	,	PUNCT
dad-13359	787	4	błażej	błażej	PROPN
dad-13359	787	5	osiński	osiński	PROPN
dad-13359	787	6	,	,	PUNCT
dad-13359	787	7	sergey	sergey	PROPN
dad-13359	787	8	levine	levine	PROPN
dad-13359	787	9	,	,	PUNCT
dad-13359	787	10	et	et	PROPN
dad-13359	787	11	al	al	PROPN
dad-13359	787	12	.	.	PROPN
dad-13359	788	1	lm	lm	PROPN
dad-13359	788	2	-	-	PUNCT
dad-13359	788	3	nav	nav	NOUN
dad-13359	788	4	:	:	PUNCT
dad-13359	788	5	robotic	robotic	ADJ
dad-13359	788	6	navigation	navigation	NOUN
dad-13359	788	7	with	with	ADP
dad-13359	788	8	large	large	ADJ
dad-13359	788	9	pretrained	pretraine	VERB
dad-13359	788	10	models	model	NOUN
dad-13359	788	11	of	of	ADP
dad-13359	788	12	language	language	NOUN
dad-13359	788	13	,	,	PUNCT
dad-13359	788	14	vision	vision	NOUN
dad-13359	788	15	,	,	PUNCT
dad-13359	788	16	and	and	CCONJ
dad-13359	788	17	action	action	NOUN
dad-13359	788	18	.	.	PUNCT
dad-13359	789	1	in	in	ADP
dad-13359	789	2	conference	conference	NOUN
dad-13359	789	3	on	on	ADP
dad-13359	789	4	robot	robot	NOUN
dad-13359	789	5	learning	learning	NOUN
dad-13359	789	6	,	,	PUNCT
dad-13359	789	7	pages	page	NOUN
dad-13359	789	8	492–504	492–504	NUM
dad-13359	789	9	.	.	PUNCT
dad-13359	789	10	pmlr	pmlr	NOUN
dad-13359	789	11	,	,	PUNCT
dad-13359	789	12	2023	2023	NUM
dad-13359	789	13	.	.	PUNCT
dad-13359	790	1	url	url	PROPN
dad-13359	790	2	https://proceedings.mlr.press/v205/shah23b/shah23b	https://proceedings.mlr.press/v205/shah23b/shah23b	NOUN
dad-13359	790	3	.	.	PUNCT
dad-13359	791	1	pdf	pdf	NOUN
dad-13359	791	2	.	.	PUNCT
dad-13359	792	1	91	91	NUM
dad-13359	792	2	https://aclanthology.org/2020.findings-emnlp.17.pdf	https://aclanthology.org/2020.findings-emnlp.17.pdf	PROPN
dad-13359	792	3	https://onlinelibrary.wiley.com/doi/abs/10.1002/ejsp.663	https://onlinelibrary.wiley.com/doi/abs/10.1002/ejsp.663	NOUN
dad-13359	792	4	https://onlinelibrary.wiley.com/doi/abs/10.1002/ejsp.663	https://onlinelibrary.wiley.com/doi/abs/10.1002/ejsp.663	NOUN
dad-13359	792	5	https://www.research-collection.ethz.ch/bitstream/handle/20.500.11850/82551/1/eth-8214-01.pdf	https://www.research-collection.ethz.ch/bitstream/handle/20.500.11850/82551/1/eth-8214-01.pdf	PROPN
dad-13359	792	6	https://www.research-collection.ethz.ch/bitstream/handle/20.500.11850/82551/1/eth-8214-01.pdf	https://www.research-collection.ethz.ch/bitstream/handle/20.500.11850/82551/1/eth-8214-01.pdf	ADJ
dad-13359	792	7	https://par.nsf.gov/servlets/purl/10315084	https://par.nsf.gov/servlets/purl/10315084	NOUN
dad-13359	792	8	https://par.nsf.gov/servlets/purl/10315084	https://par.nsf.gov/servlets/purl/10315084	NOUN
dad-13359	793	1	https://aclanthology.org/2023.acl-long.352.pdf	https://aclanthology.org/2023.acl-long.352.pdf	NOUN
dad-13359	793	2	https://aclanthology.org/2023.acl-long.352.pdf	https://aclanthology.org/2023.acl-long.352.pdf	PROPN
dad-13359	793	3	https://arxiv.org/pdf/2309.11064	https://arxiv.org/pdf/2309.11064	ADV
dad-13359	793	4	https://arxiv.org/pdf/2309.11064	https://arxiv.org/pdf/2309.11064	VERB
dad-13359	793	5	https://aclanthology.org/d18-1299.pdf	https://aclanthology.org/d18-1299.pdf	PROPN
dad-13359	793	6	https://aclanthology.org/2021.eacl-main.24.pdf	https://aclanthology.org/2021.eacl-main.24.pdf	PROPN
dad-13359	793	7	https://aclanthology.org/2021.eacl-main.24.pdf	https://aclanthology.org/2021.eacl-main.24.pdf	PROPN
dad-13359	793	8	https://proceedings.mlr.press/v205/shah23b/shah23b.pdf	https://proceedings.mlr.press/v205/shah23b/shah23b.pdf	PROPN
dad-13359	793	9	https://proceedings.mlr.press/v205/shah23b/shah23b.pdf	https://proceedings.mlr.press/v205/shah23b/shah23b.pdf	PROPN
dad-13359	793	10	walker	walker	PROPN
dad-13359	793	11	,	,	PUNCT
dad-13359	793	12	ultes	ulte	NOUN
dad-13359	793	13	and	and	CCONJ
dad-13359	793	14	lison	lison	PROPN
dad-13359	793	15	freda	freda	PROPN
dad-13359	793	16	shi	shi	PROPN
dad-13359	793	17	,	,	PUNCT
dad-13359	793	18	xinyun	xinyun	PROPN
dad-13359	793	19	chen	chen	PROPN
dad-13359	793	20	,	,	PUNCT
dad-13359	793	21	kanishka	kanishka	PROPN
dad-13359	793	22	misra	misra	PROPN
dad-13359	793	23	,	,	PUNCT
dad-13359	793	24	nathan	nathan	PROPN
dad-13359	793	25	scales	scales	PROPN
dad-13359	793	26	,	,	PUNCT
dad-13359	793	27	david	david	PROPN
dad-13359	793	28	dohan	dohan	PROPN
dad-13359	793	29	,	,	PUNCT
dad-13359	793	30	ed	ed	PROPN
dad-13359	793	31	h	h	PROPN
dad-13359	793	32	chi	chi	PROPN
dad-13359	793	33	,	,	PUNCT
dad-13359	793	34	nathanael	nathanael	PROPN
dad-13359	793	35	schärli	schärli	PROPN
dad-13359	793	36	,	,	PUNCT
dad-13359	793	37	and	and	CCONJ
dad-13359	793	38	denny	denny	PROPN
dad-13359	793	39	zhou	zhou	PROPN
dad-13359	793	40	.	.	PUNCT
dad-13359	794	1	large	large	ADJ
dad-13359	794	2	language	language	NOUN
dad-13359	794	3	models	model	NOUN
dad-13359	794	4	can	can	AUX
dad-13359	794	5	be	be	AUX
dad-13359	794	6	easily	easily	ADV
dad-13359	794	7	distracted	distract	VERB
dad-13359	794	8	by	by	ADP
dad-13359	794	9	irrelevant	irrelevant	ADJ
dad-13359	794	10	context	context	NOUN
dad-13359	794	11	.	.	PUNCT
dad-13359	795	1	in	in	ADP
dad-13359	795	2	international	international	ADJ
dad-13359	795	3	conference	conference	NOUN
dad-13359	795	4	on	on	ADP
dad-13359	795	5	machine	machine	NOUN
dad-13359	795	6	learning	learning	NOUN
dad-13359	795	7	,	,	PUNCT
dad-13359	795	8	pages	page	NOUN
dad-13359	795	9	31210–31227	31210–31227	NUM
dad-13359	795	10	.	.	PUNCT
dad-13359	795	11	pmlr	pmlr	NOUN
dad-13359	795	12	,	,	PUNCT
dad-13359	795	13	2023	2023	NUM
dad-13359	795	14	.	.	PUNCT
dad-13359	795	15	url	url	PROPN
dad-13359	795	16	https://proceedings.mlr.press/v202/shi23a/shi23a.pdf	https://proceedings.mlr.press/v202/shi23a/shi23a.pdf	PROPN
dad-13359	795	17	.	.	PUNCT
dad-13359	795	18	chan	chan	PROPN
dad-13359	795	19	hee	hee	PROPN
dad-13359	795	20	song	song	PROPN
dad-13359	795	21	,	,	PUNCT
dad-13359	795	22	jiaman	jiaman	PROPN
dad-13359	795	23	wu	wu	PROPN
dad-13359	795	24	,	,	PUNCT
dad-13359	795	25	clayton	clayton	PROPN
dad-13359	795	26	washington	washington	PROPN
dad-13359	795	27	,	,	PUNCT
dad-13359	795	28	brian	brian	PROPN
dad-13359	795	29	m	m	PROPN
dad-13359	795	30	sadler	sadler	NOUN
dad-13359	795	31	,	,	PUNCT
dad-13359	795	32	wei	wei	PROPN
dad-13359	795	33	-	-	PROPN
dad-13359	795	34	lun	lun	PROPN
dad-13359	795	35	chao	chao	PROPN
dad-13359	795	36	,	,	PUNCT
dad-13359	795	37	and	and	CCONJ
dad-13359	796	1	yu	yu	PROPN
dad-13359	796	2	su	su	PROPN
dad-13359	796	3	.	.	PROPN
dad-13359	796	4	llmplanner	llmplanner	PROPN
dad-13359	796	5	:	:	PUNCT
dad-13359	796	6	few	few	ADJ
dad-13359	796	7	-	-	PUNCT
dad-13359	796	8	shot	shot	NOUN
dad-13359	796	9	grounded	ground	VERB
dad-13359	796	10	planning	planning	NOUN
dad-13359	796	11	for	for	ADP
dad-13359	796	12	embodied	embodied	ADJ
dad-13359	796	13	agents	agent	NOUN
dad-13359	796	14	with	with	ADP
dad-13359	796	15	large	large	ADJ
dad-13359	796	16	language	language	NOUN
dad-13359	796	17	models	model	NOUN
dad-13359	796	18	.	.	PUNCT
dad-13359	797	1	arxiv	arxiv	PROPN
dad-13359	797	2	preprint	preprint	VERB
dad-13359	797	3	arxiv:2212.04088	arxiv:2212.04088	PROPN
dad-13359	797	4	,	,	PUNCT
dad-13359	797	5	2022	2022	NUM
dad-13359	797	6	.	.	PUNCT
dad-13359	798	1	url	url	PROPN
dad-13359	798	2	https://embodied-ai.org/papers/2023/	https://embodied-ai.org/papers/2023/	PROPN
dad-13359	798	3	7.pdf	7.pdf	PROPN
dad-13359	798	4	.	.	PUNCT
dad-13359	798	5	yan	yan	PROPN
dad-13359	798	6	tai	tai	PROPN
dad-13359	798	7	,	,	PUNCT
dad-13359	798	8	weichen	weichen	ADV
dad-13359	798	9	fan	fan	PROPN
dad-13359	798	10	,	,	PUNCT
dad-13359	798	11	zhao	zhao	PROPN
dad-13359	798	12	zhang	zhang	PROPN
dad-13359	798	13	,	,	PUNCT
dad-13359	798	14	feng	feng	PROPN
dad-13359	798	15	zhu	zhu	PROPN
dad-13359	798	16	,	,	PUNCT
dad-13359	798	17	rui	rui	PROPN
dad-13359	798	18	zhao	zhao	PROPN
dad-13359	798	19	,	,	PUNCT
dad-13359	798	20	and	and	CCONJ
dad-13359	798	21	ziwei	ziwei	PROPN
dad-13359	798	22	liu	liu	PROPN
dad-13359	798	23	.	.	PUNCT
dad-13359	799	1	link	link	PROPN
dad-13359	799	2	-	-	PUNCT
dad-13359	799	3	context	context	NOUN
dad-13359	799	4	learning	learning	NOUN
dad-13359	799	5	for	for	ADP
dad-13359	799	6	multimodal	multimodal	NOUN
dad-13359	799	7	llms	llm	NOUN
dad-13359	799	8	.	.	PUNCT
dad-13359	800	1	arxiv	arxiv	PROPN
dad-13359	800	2	preprint	preprint	NOUN
dad-13359	800	3	arxiv:2308.07891	arxiv:2308.07891	NOUN
dad-13359	800	4	,	,	PUNCT
dad-13359	800	5	2023	2023	NUM
dad-13359	800	6	.	.	PUNCT
dad-13359	800	7	url	url	VERB
dad-13359	800	8	https://arxiv.org/	https://arxiv.org/	PRON
dad-13359	800	9	pdf/2308.07891	pdf/2308.07891	ADJ
dad-13359	800	10	.	.	PUNCT
dad-13359	801	1	stefanie	stefanie	PROPN
dad-13359	801	2	tellex	tellex	PROPN
dad-13359	801	3	,	,	PUNCT
dad-13359	801	4	nakul	nakul	PROPN
dad-13359	801	5	gopalan	gopalan	PROPN
dad-13359	801	6	,	,	PUNCT
dad-13359	801	7	hadas	hadas	PROPN
dad-13359	801	8	kress	kress	PROPN
dad-13359	801	9	-	-	PUNCT
dad-13359	801	10	gazit	gazit	NOUN
dad-13359	801	11	,	,	PUNCT
dad-13359	801	12	and	and	CCONJ
dad-13359	801	13	cynthia	cynthia	PROPN
dad-13359	801	14	matuszek	matuszek	PROPN
dad-13359	801	15	.	.	PUNCT
dad-13359	802	1	robots	robot	NOUN
dad-13359	802	2	that	that	PRON
dad-13359	802	3	use	use	VERB
dad-13359	802	4	language	language	NOUN
dad-13359	802	5	.	.	PUNCT
dad-13359	803	1	annual	annual	ADJ
dad-13359	803	2	review	review	NOUN
dad-13359	803	3	of	of	ADP
dad-13359	803	4	control	control	NOUN
dad-13359	803	5	,	,	PUNCT
dad-13359	803	6	robotics	robotic	NOUN
dad-13359	803	7	,	,	PUNCT
dad-13359	803	8	and	and	CCONJ
dad-13359	803	9	autonomous	autonomous	ADJ
dad-13359	803	10	systems	system	NOUN
dad-13359	803	11	,	,	PUNCT
dad-13359	803	12	3:25–55	3:25–55	NUM
dad-13359	803	13	,	,	PUNCT
dad-13359	803	14	2020	2020	NUM
dad-13359	803	15	.	.	PUNCT
dad-13359	804	1	url	url	PROPN
dad-13359	804	2	https://h2r.cs.brown.edu/wp-content/uploads/tellex20.pdf	https://h2r.cs.brown.edu/wp-content/uploads/tellex20.pdf	PROPN
dad-13359	804	3	.	.	PUNCT
dad-13359	805	1	blaise	blaise	PROPN
dad-13359	805	2	thomson	thomson	PROPN
dad-13359	805	3	,	,	PUNCT
dad-13359	805	4	jost	jost	PROPN
dad-13359	805	5	schatzmann	schatzmann	PROPN
dad-13359	805	6	,	,	PUNCT
dad-13359	805	7	and	and	CCONJ
dad-13359	805	8	steve	steve	PROPN
dad-13359	805	9	young	young	PROPN
dad-13359	805	10	.	.	PUNCT
dad-13359	806	1	bayesian	bayesian	NOUN
dad-13359	806	2	update	update	NOUN
dad-13359	806	3	of	of	ADP
dad-13359	806	4	dialogue	dialogue	NOUN
dad-13359	806	5	state	state	NOUN
dad-13359	806	6	for	for	ADP
dad-13359	806	7	robust	robust	ADJ
dad-13359	806	8	dialogue	dialogue	NOUN
dad-13359	806	9	systems	system	NOUN
dad-13359	806	10	.	.	PUNCT
dad-13359	807	1	in	in	ADP
dad-13359	807	2	2008	2008	NUM
dad-13359	807	3	ieee	ieee	PROPN
dad-13359	807	4	international	international	ADJ
dad-13359	807	5	conference	conference	NOUN
dad-13359	807	6	on	on	ADP
dad-13359	807	7	acoustics	acoustic	NOUN
dad-13359	807	8	,	,	PUNCT
dad-13359	807	9	speech	speech	NOUN
dad-13359	807	10	and	and	CCONJ
dad-13359	807	11	signal	signal	NOUN
dad-13359	807	12	processing	processing	NOUN
dad-13359	807	13	,	,	PUNCT
dad-13359	807	14	pages	page	NOUN
dad-13359	807	15	4937–4940	4937–4940	NUM
dad-13359	807	16	.	.	PUNCT
dad-13359	808	1	ieee	ieee	NOUN
dad-13359	808	2	,	,	PUNCT
dad-13359	808	3	2008	2008	NUM
dad-13359	808	4	.	.	PUNCT
dad-13359	809	1	url	url	PROPN
dad-13359	809	2	http://svr-www.eng.cam.ac.uk/˜sjy/	http://svr-www.eng.cam.ac.uk/˜sjy/	NOUN
dad-13359	809	3	papers	paper	NOUN
dad-13359	809	4	/	/	SYM
dad-13359	809	5	thsy08.pdf	thsy08.pdf	PROPN
dad-13359	809	6	.	.	PUNCT
dad-13359	809	7	romal	romal	ADJ
dad-13359	809	8	thoppilan	thoppilan	NOUN
dad-13359	809	9	,	,	PUNCT
dad-13359	809	10	daniel	daniel	PROPN
dad-13359	809	11	de	de	PROPN
dad-13359	809	12	freitas	freitas	PROPN
dad-13359	809	13	,	,	PUNCT
dad-13359	809	14	jamie	jamie	PROPN
dad-13359	809	15	hall	hall	PROPN
dad-13359	809	16	,	,	PUNCT
dad-13359	809	17	noam	noam	PROPN
dad-13359	809	18	shazeer	shazeer	PROPN
dad-13359	809	19	,	,	PUNCT
dad-13359	809	20	apoorv	apoorv	ADJ
dad-13359	809	21	kulshreshtha	kulshreshtha	NOUN
dad-13359	809	22	,	,	PUNCT
dad-13359	809	23	heng	heng	PROPN
dad-13359	809	24	-	-	PUNCT
dad-13359	809	25	tze	tze	PROPN
dad-13359	809	26	cheng	cheng	PROPN
dad-13359	809	27	,	,	PUNCT
dad-13359	809	28	alicia	alicia	PROPN
dad-13359	809	29	jin	jin	PROPN
dad-13359	809	30	,	,	PUNCT
dad-13359	809	31	taylor	taylor	PROPN
dad-13359	809	32	bos	bos	PROPN
dad-13359	809	33	,	,	PUNCT
dad-13359	809	34	leslie	leslie	PROPN
dad-13359	809	35	baker	baker	PROPN
dad-13359	809	36	,	,	PUNCT
dad-13359	809	37	yu	yu	PROPN
dad-13359	809	38	du	du	PROPN
dad-13359	809	39	,	,	PUNCT
dad-13359	809	40	et	et	PROPN
dad-13359	809	41	al	al	PROPN
dad-13359	809	42	.	.	PROPN
dad-13359	809	43	lamda	lamda	PROPN
dad-13359	809	44	:	:	PUNCT
dad-13359	809	45	language	language	NOUN
dad-13359	809	46	models	model	NOUN
dad-13359	809	47	for	for	ADP
dad-13359	809	48	dialog	dialog	NOUN
dad-13359	809	49	applications	application	NOUN
dad-13359	809	50	.	.	PUNCT
dad-13359	810	1	arxiv	arxiv	PROPN
dad-13359	810	2	preprint	preprint	VERB
dad-13359	810	3	arxiv:2201.08239	arxiv:2201.08239	NUM
dad-13359	810	4	,	,	PUNCT
dad-13359	810	5	2022	2022	NUM
dad-13359	810	6	.	.	PUNCT
dad-13359	811	1	url	url	PROPN
dad-13359	812	1	https://arxiv.org/pdf/	https://arxiv.org/pdf/	DET
dad-13359	812	2	2201.08239.pdf?trk=public_post_comment-text	2201.08239.pdf?trk=public_post_comment-text	PROPN
dad-13359	812	3	.	.	PUNCT
dad-13359	813	1	david	david	PROPN
dad-13359	813	2	thulke	thulke	PROPN
dad-13359	813	3	,	,	PUNCT
dad-13359	813	4	nico	nico	PROPN
dad-13359	813	5	daheim	daheim	PROPN
dad-13359	813	6	,	,	PUNCT
dad-13359	813	7	christian	christian	ADJ
dad-13359	813	8	dugast	dugast	NOUN
dad-13359	813	9	,	,	PUNCT
dad-13359	813	10	and	and	CCONJ
dad-13359	813	11	hermann	hermann	PROPN
dad-13359	813	12	ney	ney	PROPN
dad-13359	813	13	.	.	PUNCT
dad-13359	814	1	efficient	efficient	ADJ
dad-13359	814	2	retrieval	retrieval	NOUN
dad-13359	814	3	augmented	augment	VERB
dad-13359	814	4	generation	generation	NOUN
dad-13359	814	5	from	from	ADP
dad-13359	814	6	unstructured	unstructured	ADJ
dad-13359	814	7	knowledge	knowledge	NOUN
dad-13359	814	8	for	for	ADP
dad-13359	814	9	task	task	NOUN
dad-13359	814	10	-	-	PUNCT
dad-13359	814	11	oriented	orient	VERB
dad-13359	814	12	dialog	dialog	NOUN
dad-13359	814	13	.	.	PUNCT
dad-13359	815	1	arxiv	arxiv	PROPN
dad-13359	815	2	preprint	preprint	VERB
dad-13359	815	3	arxiv:2102.04643	arxiv:2102.04643	NOUN
dad-13359	815	4	,	,	PUNCT
dad-13359	815	5	2021	2021	NUM
dad-13359	815	6	.	.	PUNCT
dad-13359	816	1	url	url	PROPN
dad-13359	816	2	https://arxiv.org/pdf/2102.04643	https://arxiv.org/pdf/2102.04643	PROPN
dad-13359	816	3	.	.	PUNCT
dad-13359	817	1	hugo	hugo	PROPN
dad-13359	817	2	touvron	touvron	PROPN
dad-13359	817	3	,	,	PUNCT
dad-13359	817	4	thibaut	thibaut	PROPN
dad-13359	817	5	lavril	lavril	NOUN
dad-13359	817	6	,	,	PUNCT
dad-13359	817	7	gautier	gautier	PROPN
dad-13359	817	8	izacard	izacard	PROPN
dad-13359	817	9	,	,	PUNCT
dad-13359	817	10	xavier	xavier	PROPN
dad-13359	817	11	martinet	martinet	PROPN
dad-13359	817	12	,	,	PUNCT
dad-13359	817	13	marie	marie	PROPN
dad-13359	817	14	-	-	PUNCT
dad-13359	817	15	anne	anne	PROPN
dad-13359	817	16	lachaux	lachaux	PROPN
dad-13359	817	17	,	,	PUNCT
dad-13359	817	18	timothée	timothée	PROPN
dad-13359	817	19	lacroix	lacroix	PROPN
dad-13359	817	20	,	,	PUNCT
dad-13359	817	21	baptiste	baptiste	PROPN
dad-13359	817	22	rozière	rozière	PROPN
dad-13359	817	23	,	,	PUNCT
dad-13359	817	24	naman	naman	PROPN
dad-13359	817	25	goyal	goyal	PROPN
dad-13359	817	26	,	,	PUNCT
dad-13359	817	27	eric	eric	PROPN
dad-13359	817	28	hambro	hambro	PROPN
dad-13359	817	29	,	,	PUNCT
dad-13359	817	30	faisal	faisal	PROPN
dad-13359	817	31	azhar	azhar	PROPN
dad-13359	817	32	,	,	PUNCT
dad-13359	817	33	et	et	PROPN
dad-13359	817	34	al	al	PROPN
dad-13359	817	35	.	.	PROPN
dad-13359	817	36	llama	llama	PROPN
dad-13359	817	37	:	:	PUNCT
dad-13359	817	38	open	open	ADJ
dad-13359	817	39	and	and	CCONJ
dad-13359	817	40	efficient	efficient	ADJ
dad-13359	817	41	foundation	foundation	NOUN
dad-13359	817	42	language	language	NOUN
dad-13359	817	43	models	model	NOUN
dad-13359	817	44	.	.	PUNCT
dad-13359	818	1	arxiv	arxiv	PROPN
dad-13359	818	2	preprint	preprint	VERB
dad-13359	818	3	arxiv:2302.13971	arxiv:2302.13971	PROPN
dad-13359	818	4	,	,	PUNCT
dad-13359	818	5	2023	2023	NUM
dad-13359	818	6	.	.	PUNCT
dad-13359	819	1	url	url	PROPN
dad-13359	819	2	https	https	NOUN
dad-13359	819	3	:	:	PUNCT
dad-13359	819	4	//arxiv.org	//arxiv.org	SYM
dad-13359	819	5	/	/	SYM
dad-13359	819	6	pdf/2302.13971	pdf/2302.13971	ADJ
dad-13359	819	7	.	.	PUNCT
dad-13359	820	1	kai	kai	PROPN
dad-13359	820	2	-	-	PUNCT
dad-13359	820	3	wen	wen	PROPN
dad-13359	820	4	tuan	tuan	PROPN
dad-13359	820	5	,	,	PUNCT
dad-13359	820	6	yi	yi	PROPN
dad-13359	820	7	-	-	PUNCT
dad-13359	820	8	jyun	jyun	PROPN
dad-13359	820	9	chen	chen	PROPN
dad-13359	820	10	,	,	PUNCT
dad-13359	820	11	yi	yi	PROPN
dad-13359	820	12	-	-	PUNCT
dad-13359	820	13	chien	chien	PROPN
dad-13359	820	14	lin	lin	PROPN
dad-13359	820	15	,	,	PUNCT
dad-13359	820	16	chun	chun	PROPN
dad-13359	820	17	-	-	PUNCT
dad-13359	820	18	ho	ho	PROPN
dad-13359	820	19	kwok	kwok	PROPN
dad-13359	820	20	,	,	PUNCT
dad-13359	820	21	hai	hai	PROPN
dad-13359	820	22	-	-	PUNCT
dad-13359	820	23	lun	lun	PROPN
dad-13359	820	24	tu	tu	PROPN
dad-13359	820	25	,	,	PUNCT
dad-13359	820	26	and	and	CCONJ
dad-13359	820	27	jason	jason	PROPN
dad-13359	820	28	s.	s.	PROPN
dad-13359	820	29	chang	chang	PROPN
dad-13359	820	30	.	.	PUNCT
dad-13359	821	1	learning	learn	VERB
dad-13359	821	2	to	to	PART
dad-13359	821	3	find	find	VERB
dad-13359	821	4	translation	translation	NOUN
dad-13359	821	5	of	of	ADP
dad-13359	821	6	grammar	grammar	NOUN
dad-13359	821	7	patterns	pattern	NOUN
dad-13359	821	8	in	in	ADP
dad-13359	821	9	parallel	parallel	ADJ
dad-13359	821	10	corpus	corpus	NOUN
dad-13359	821	11	.	.	PUNCT
dad-13359	822	1	in	in	ADP
dad-13359	822	2	proceedings	proceeding	NOUN
dad-13359	822	3	of	of	ADP
dad-13359	822	4	the	the	DET
dad-13359	822	5	33rd	33rd	ADJ
dad-13359	822	6	conference	conference	NOUN
dad-13359	822	7	on	on	ADP
dad-13359	822	8	computational	computational	ADJ
dad-13359	822	9	linguistics	linguistic	NOUN
dad-13359	822	10	and	and	CCONJ
dad-13359	822	11	speech	speech	NOUN
dad-13359	822	12	processing	processing	NOUN
dad-13359	822	13	(	(	PUNCT
dad-13359	822	14	rocling	rocle	VERB
dad-13359	822	15	2021	2021	NUM
dad-13359	822	16	)	)	PUNCT
dad-13359	822	17	,	,	PUNCT
dad-13359	822	18	pages	page	NOUN
dad-13359	822	19	301–309	301–309	NUM
dad-13359	822	20	,	,	PUNCT
dad-13359	822	21	taoyuan	taoyuan	PROPN
dad-13359	822	22	,	,	PUNCT
dad-13359	822	23	taiwan	taiwan	PROPN
dad-13359	822	24	,	,	PUNCT
dad-13359	822	25	october	october	PROPN
dad-13359	822	26	2021	2021	NUM
dad-13359	822	27	.	.	PUNCT
dad-13359	823	1	the	the	DET
dad-13359	823	2	association	association	NOUN
dad-13359	823	3	for	for	ADP
dad-13359	823	4	computational	computational	ADJ
dad-13359	823	5	linguistics	linguistic	NOUN
dad-13359	823	6	and	and	CCONJ
dad-13359	823	7	chinese	chinese	ADJ
dad-13359	823	8	language	language	NOUN
dad-13359	823	9	processing	processing	NOUN
dad-13359	823	10	(	(	PUNCT
dad-13359	823	11	aclclp	aclclp	PROPN
dad-13359	823	12	)	)	PUNCT
dad-13359	823	13	.	.	PUNCT
dad-13359	824	1	url	url	PROPN
dad-13359	825	1	https://aclanthology.org/2021	https://aclanthology.org/2021	PROPN
dad-13359	825	2	.	.	PUNCT
dad-13359	825	3	rocling-1.39	rocling-1.39	PROPN
dad-13359	825	4	.	.	PUNCT
dad-13359	826	1	yi	yi	PROPN
dad-13359	826	2	-	-	PUNCT
dad-13359	826	3	lin	lin	PROPN
dad-13359	826	4	tuan	tuan	PROPN
dad-13359	826	5	,	,	PUNCT
dad-13359	826	6	yun	yun	PROPN
dad-13359	826	7	-	-	PUNCT
dad-13359	826	8	nung	nung	PROPN
dad-13359	826	9	chen	chen	PROPN
dad-13359	826	10	,	,	PUNCT
dad-13359	826	11	and	and	CCONJ
dad-13359	826	12	hung	hung	PROPN
dad-13359	826	13	-	-	PUNCT
dad-13359	826	14	yi	yi	PROPN
dad-13359	826	15	lee	lee	PROPN
dad-13359	826	16	.	.	PUNCT
dad-13359	827	1	dykgchat	dykgchat	PRON
dad-13359	827	2	:	:	PUNCT
dad-13359	827	3	benchmarking	benchmarke	VERB
dad-13359	827	4	dialogue	dialogue	NOUN
dad-13359	827	5	generation	generation	NOUN
dad-13359	827	6	grounding	ground	VERB
dad-13359	827	7	on	on	ADP
dad-13359	827	8	dynamic	dynamic	ADJ
dad-13359	827	9	knowledge	knowledge	NOUN
dad-13359	827	10	graphs	graph	NOUN
dad-13359	827	11	.	.	PUNCT
dad-13359	828	1	in	in	ADP
dad-13359	828	2	proceedings	proceeding	NOUN
dad-13359	828	3	of	of	ADP
dad-13359	828	4	the	the	DET
dad-13359	828	5	2019	2019	NUM
dad-13359	828	6	conference	conference	NOUN
dad-13359	828	7	on	on	ADP
dad-13359	828	8	empirical	empirical	ADJ
dad-13359	828	9	methods	method	NOUN
dad-13359	828	10	in	in	ADP
dad-13359	828	11	natural	natural	ADJ
dad-13359	828	12	language	language	NOUN
dad-13359	828	13	processing	processing	NOUN
dad-13359	828	14	and	and	CCONJ
dad-13359	828	15	the	the	DET
dad-13359	828	16	9th	9th	ADJ
dad-13359	828	17	international	international	ADJ
dad-13359	828	18	joint	joint	ADJ
dad-13359	828	19	conference	conference	NOUN
dad-13359	828	20	on	on	ADP
dad-13359	828	21	natural	natural	ADJ
dad-13359	828	22	language	language	NOUN
dad-13359	828	23	processing	processing	NOUN
dad-13359	828	24	(	(	PUNCT
dad-13359	828	25	emnlp	emnlp	NOUN
dad-13359	828	26	-	-	PUNCT
dad-13359	828	27	ijcnlp	ijcnlp	NOUN
dad-13359	828	28	)	)	PUNCT
dad-13359	828	29	,	,	PUNCT
dad-13359	828	30	pages	page	NOUN
dad-13359	828	31	1855–1865	1855–1865	NUM
dad-13359	828	32	,	,	PUNCT
dad-13359	828	33	hong	hong	PROPN
dad-13359	828	34	kong	kong	PROPN
dad-13359	828	35	,	,	PUNCT
dad-13359	828	36	china	china	PROPN
dad-13359	828	37	,	,	PUNCT
dad-13359	828	38	92	92	NUM
dad-13359	828	39	https://proceedings.mlr.press/v202/shi23a/shi23a.pdf	https://proceedings.mlr.press/v202/shi23a/shi23a.pdf	ADJ
dad-13359	828	40	https://embodied-ai.org/papers/2023/7.pdf	https://embodied-ai.org/papers/2023/7.pdf	PROPN
dad-13359	828	41	https://embodied-ai.org/papers/2023/7.pdf	https://embodied-ai.org/papers/2023/7.pdf	PROPN
dad-13359	828	42	https://arxiv.org/pdf/2308.07891	https://arxiv.org/pdf/2308.07891	NOUN
dad-13359	828	43	https://arxiv.org/pdf/2308.07891	https://arxiv.org/pdf/2308.07891	VERB
dad-13359	828	44	https://h2r.cs.brown.edu/wp-content/uploads/tellex20.pdf	https://h2r.cs.brown.edu/wp-content/uploads/tellex20.pdf	PROPN
dad-13359	828	45	http://svr-www.eng.cam.ac.uk/~sjy/papers/thsy08.pdf	http://svr-www.eng.cam.ac.uk/~sjy/papers/thsy08.pdf	PROPN
dad-13359	828	46	http://svr-www.eng.cam.ac.uk/~sjy/papers/thsy08.pdf	http://svr-www.eng.cam.ac.uk/~sjy/papers/thsy08.pdf	PROPN
dad-13359	828	47	https://arxiv.org/pdf/2201.08239.pdf?trk=public_post_comment-text	https://arxiv.org/pdf/2201.08239.pdf?trk=public_post_comment-text	PROPN
dad-13359	828	48	https://arxiv.org/pdf/2201.08239.pdf?trk=public_post_comment-text	https://arxiv.org/pdf/2201.08239.pdf?trk=public_post_comment-text	PROPN
dad-13359	828	49	https://arxiv.org/pdf/2102.04643	https://arxiv.org/pdf/2102.04643	PROPN
dad-13359	828	50	https://arxiv.org/pdf/2302.13971	https://arxiv.org/pdf/2302.13971	VERB
dad-13359	828	51	https://arxiv.org/pdf/2302.13971	https://arxiv.org/pdf/2302.13971	VERB
dad-13359	828	52	https://aclanthology.org/2021.rocling-1.39	https://aclanthology.org/2021.rocling-1.39	ADP
dad-13359	828	53	https://aclanthology.org/2021.rocling-1.39	https://aclanthology.org/2021.rocling-1.39	ADP
dad-13359	828	54	a	a	DET
dad-13359	828	55	graph	graph	NOUN
dad-13359	828	56	-	-	PUNCT
dad-13359	828	57	to	to	ADP
dad-13359	828	58	-	-	PUNCT
dad-13359	828	59	text	text	NOUN
dad-13359	828	60	approach	approach	NOUN
dad-13359	828	61	to	to	ADP
dad-13359	828	62	knowledge	knowledge	NOUN
dad-13359	828	63	-	-	PUNCT
dad-13359	828	64	grounded	ground	VERB
dad-13359	828	65	response	response	NOUN
dad-13359	828	66	generation	generation	NOUN
dad-13359	828	67	in	in	ADP
dad-13359	828	68	hri	hri	PROPN
dad-13359	828	69	november	november	PROPN
dad-13359	828	70	2019	2019	NUM
dad-13359	828	71	.	.	PUNCT
dad-13359	829	1	association	association	NOUN
dad-13359	829	2	for	for	ADP
dad-13359	829	3	computational	computational	ADJ
dad-13359	829	4	linguistics	linguistic	NOUN
dad-13359	829	5	.	.	PUNCT
dad-13359	830	1	doi	doi	NOUN
dad-13359	830	2	:	:	PUNCT
dad-13359	830	3	10.18653	10.18653	NUM
dad-13359	830	4	/	/	SYM
dad-13359	830	5	v1	v1	NOUN
dad-13359	830	6	/	/	SYM
dad-13359	830	7	d19	d19	PROPN
dad-13359	830	8	-	-	PUNCT
dad-13359	830	9	1194	1194	NUM
dad-13359	830	10	.	.	PUNCT
dad-13359	831	1	url	url	PROPN
dad-13359	831	2	https://aclanthology.org/d19-1194	https://aclanthology.org/d19-1194	PROPN
dad-13359	831	3	.	.	PUNCT
dad-13359	832	1	tomer	tomer	PROPN
dad-13359	832	2	ullman	ullman	PROPN
dad-13359	832	3	.	.	PUNCT
dad-13359	833	1	large	large	ADJ
dad-13359	833	2	language	language	NOUN
dad-13359	833	3	models	model	NOUN
dad-13359	833	4	fail	fail	VERB
dad-13359	833	5	on	on	ADP
dad-13359	833	6	trivial	trivial	ADJ
dad-13359	833	7	alterations	alteration	NOUN
dad-13359	833	8	to	to	ADP
dad-13359	833	9	theory	theory	NOUN
dad-13359	833	10	-	-	PUNCT
dad-13359	833	11	of	of	ADP
dad-13359	833	12	-	-	PUNCT
dad-13359	833	13	mind	mind	NOUN
dad-13359	833	14	tasks	task	NOUN
dad-13359	833	15	.	.	PUNCT
dad-13359	834	1	arxiv	arxiv	PROPN
dad-13359	834	2	preprint	preprint	VERB
dad-13359	834	3	arxiv:2302.08399	arxiv:2302.08399	NOUN
dad-13359	834	4	,	,	PUNCT
dad-13359	834	5	2023	2023	NUM
dad-13359	834	6	.	.	PUNCT
dad-13359	835	1	url	url	PROPN
dad-13359	835	2	https://arxiv.org/pdf/2302.08399.pdf	https://arxiv.org/pdf/2302.08399.pdf	PROPN
dad-13359	835	3	.	.	PUNCT
dad-13359	836	1	karthik	karthik	PROPN
dad-13359	836	2	valmeekam	valmeekam	PROPN
dad-13359	836	3	,	,	PUNCT
dad-13359	836	4	alberto	alberto	PROPN
dad-13359	836	5	olmo	olmo	PROPN
dad-13359	836	6	,	,	PUNCT
dad-13359	836	7	sarath	sarath	PROPN
dad-13359	836	8	sreedharan	sreedharan	VERB
dad-13359	836	9	,	,	PUNCT
dad-13359	836	10	and	and	CCONJ
dad-13359	836	11	subbarao	subbarao	NOUN
dad-13359	836	12	kambhampati	kambhampati	PROPN
dad-13359	836	13	.	.	PUNCT
dad-13359	837	1	large	large	ADJ
dad-13359	837	2	language	language	NOUN
dad-13359	837	3	models	model	NOUN
dad-13359	837	4	still	still	ADV
dad-13359	837	5	ca	can	AUX
dad-13359	837	6	n’t	not	PART
dad-13359	837	7	plan	plan	VERB
dad-13359	837	8	(	(	PUNCT
dad-13359	837	9	a	a	DET
dad-13359	837	10	benchmark	benchmark	NOUN
dad-13359	837	11	for	for	ADP
dad-13359	837	12	llms	llm	NOUN
dad-13359	837	13	on	on	ADP
dad-13359	837	14	planning	planning	NOUN
dad-13359	837	15	and	and	CCONJ
dad-13359	837	16	reasoning	reasoning	NOUN
dad-13359	837	17	about	about	ADP
dad-13359	837	18	change	change	NOUN
dad-13359	837	19	)	)	PUNCT
dad-13359	837	20	.	.	PUNCT
dad-13359	838	1	arxiv	arxiv	PROPN
dad-13359	838	2	preprint	preprint	VERB
dad-13359	838	3	arxiv:2206.10498	arxiv:2206.10498	NOUN
dad-13359	838	4	,	,	PUNCT
dad-13359	838	5	2022	2022	NUM
dad-13359	838	6	.	.	PUNCT
dad-13359	839	1	url	url	PROPN
dad-13359	839	2	https://arxiv.org/pdf/2206.10498	https://arxiv.org/pdf/2206.10498	ADV
dad-13359	839	3	.	.	PUNCT
dad-13359	840	1	ashish	ashish	PROPN
dad-13359	840	2	vaswani	vaswani	PROPN
dad-13359	840	3	,	,	PUNCT
dad-13359	840	4	noam	noam	PROPN
dad-13359	840	5	shazeer	shazeer	PROPN
dad-13359	840	6	,	,	PUNCT
dad-13359	840	7	niki	niki	PROPN
dad-13359	840	8	parmar	parmar	PROPN
dad-13359	840	9	,	,	PUNCT
dad-13359	840	10	jakob	jakob	PROPN
dad-13359	840	11	uszkoreit	uszkoreit	PROPN
dad-13359	840	12	,	,	PUNCT
dad-13359	840	13	llion	llion	NOUN
dad-13359	840	14	jones	jones	PROPN
dad-13359	840	15	,	,	PUNCT
dad-13359	840	16	aidan	aidan	PROPN
dad-13359	840	17	n	n	PROPN
dad-13359	840	18	gomez	gomez	PROPN
dad-13359	840	19	,	,	PUNCT
dad-13359	840	20	łukasz	łukasz	PROPN
dad-13359	840	21	kaiser	kaiser	PROPN
dad-13359	840	22	,	,	PUNCT
dad-13359	840	23	and	and	CCONJ
dad-13359	840	24	illia	illia	PROPN
dad-13359	840	25	polosukhin	polosukhin	NOUN
dad-13359	840	26	.	.	PUNCT
dad-13359	841	1	attention	attention	NOUN
dad-13359	841	2	is	be	AUX
dad-13359	841	3	all	all	PRON
dad-13359	841	4	you	you	PRON
dad-13359	841	5	need	need	VERB
dad-13359	841	6	.	.	PUNCT
dad-13359	842	1	advances	advance	NOUN
dad-13359	842	2	in	in	ADP
dad-13359	842	3	neural	neural	ADJ
dad-13359	842	4	information	information	NOUN
dad-13359	842	5	processing	processing	NOUN
dad-13359	842	6	systems	system	NOUN
dad-13359	842	7	,	,	PUNCT
dad-13359	842	8	30	30	NUM
dad-13359	842	9	,	,	PUNCT
dad-13359	842	10	2017	2017	NUM
dad-13359	842	11	.	.	PUNCT
dad-13359	843	1	url	url	PROPN
dad-13359	843	2	https://proceedings.neurips.cc/paper/	https://proceedings.neurips.cc/paper/	PROPN
dad-13359	843	3	2017	2017	NUM
dad-13359	843	4	/	/	SYM
dad-13359	843	5	file/3f5ee243547dee91fbd053c1c4a845aa	file/3f5ee243547dee91fbd053c1c4a845aa	VERB
dad-13359	843	6	-	-	PUNCT
dad-13359	843	7	paper.pdf	paper.pdf	NOUN
dad-13359	843	8	.	.	PUNCT
dad-13359	844	1	joshua	joshua	PROPN
dad-13359	844	2	wainer	wainer	PROPN
dad-13359	844	3	,	,	PUNCT
dad-13359	844	4	david	david	PROPN
dad-13359	844	5	j	j	PROPN
dad-13359	844	6	feil	feil	PROPN
dad-13359	844	7	-	-	PUNCT
dad-13359	844	8	seifer	seifer	PROPN
dad-13359	844	9	,	,	PUNCT
dad-13359	844	10	dylan	dylan	PROPN
dad-13359	844	11	a	a	DET
dad-13359	844	12	shell	shell	NOUN
dad-13359	844	13	,	,	PUNCT
dad-13359	844	14	and	and	CCONJ
dad-13359	844	15	maja	maja	PROPN
dad-13359	844	16	j	j	PROPN
dad-13359	844	17	mataric	mataric	ADJ
dad-13359	844	18	.	.	PUNCT
dad-13359	845	1	the	the	DET
dad-13359	845	2	role	role	NOUN
dad-13359	845	3	of	of	ADP
dad-13359	845	4	physical	physical	ADJ
dad-13359	845	5	embodiment	embodiment	NOUN
dad-13359	845	6	in	in	ADP
dad-13359	845	7	human	human	ADJ
dad-13359	845	8	-	-	PUNCT
dad-13359	845	9	robot	robot	NOUN
dad-13359	845	10	interaction	interaction	NOUN
dad-13359	845	11	.	.	PUNCT
dad-13359	846	1	in	in	ADP
dad-13359	846	2	roman	roman	ADJ
dad-13359	846	3	2006	2006	NUM
dad-13359	846	4	-	-	SYM
dad-13359	846	5	the	the	DET
dad-13359	846	6	15th	15th	ADJ
dad-13359	846	7	ieee	ieee	NOUN
dad-13359	846	8	international	international	ADJ
dad-13359	846	9	symposium	symposium	NOUN
dad-13359	846	10	on	on	ADP
dad-13359	846	11	robot	robot	NOUN
dad-13359	846	12	and	and	CCONJ
dad-13359	846	13	human	human	ADJ
dad-13359	846	14	interactive	interactive	ADJ
dad-13359	846	15	communication	communication	NOUN
dad-13359	846	16	,	,	PUNCT
dad-13359	846	17	pages	page	NOUN
dad-13359	846	18	117–122	117–122	NUM
dad-13359	846	19	.	.	PUNCT
dad-13359	846	20	ieee	ieee	PROPN
dad-13359	846	21	,	,	PUNCT
dad-13359	846	22	2006	2006	NUM
dad-13359	846	23	.	.	PUNCT
dad-13359	847	1	url	url	PROPN
dad-13359	847	2	https://rrl.cse.unr.edu/media/documents/2016/498.pdf	https://rrl.cse.unr.edu/media/documents/2016/498.pdf	PROPN
dad-13359	847	3	.	.	PUNCT
dad-13359	848	1	nicholas	nicholas	PROPN
dad-13359	848	2	thomas	thomas	PROPN
dad-13359	848	3	walker	walker	PROPN
dad-13359	848	4	,	,	PUNCT
dad-13359	848	5	torbjørn	torbjørn	NOUN
dad-13359	848	6	dahl	dahl	NOUN
dad-13359	848	7	,	,	PUNCT
dad-13359	848	8	and	and	CCONJ
dad-13359	848	9	pierre	pierre	PROPN
dad-13359	848	10	lison	lison	NOUN
dad-13359	848	11	.	.	PUNCT
dad-13359	849	1	dialogue	dialogue	NOUN
dad-13359	849	2	management	management	NOUN
dad-13359	849	3	as	as	ADP
dad-13359	849	4	graph	graph	NOUN
dad-13359	849	5	transformations	transformation	NOUN
dad-13359	849	6	.	.	PUNCT
dad-13359	850	1	in	in	ADP
dad-13359	850	2	conversational	conversational	ADJ
dad-13359	850	3	ai	ai	NOUN
dad-13359	850	4	for	for	ADP
dad-13359	850	5	natural	natural	ADJ
dad-13359	850	6	human	human	ADJ
dad-13359	850	7	-	-	PUNCT
dad-13359	850	8	centric	centric	NOUN
dad-13359	850	9	interaction	interaction	NOUN
dad-13359	850	10	,	,	PUNCT
dad-13359	850	11	pages	page	NOUN
dad-13359	850	12	219–227	219–227	NUM
dad-13359	850	13	,	,	PUNCT
dad-13359	850	14	singapore	singapore	NOUN
dad-13359	850	15	,	,	PUNCT
dad-13359	850	16	2022	2022	NUM
dad-13359	850	17	.	.	PUNCT
dad-13359	851	1	springer	springer	NOUN
dad-13359	851	2	nature	nature	PROPN
dad-13359	851	3	singapore	singapore	PROPN
dad-13359	851	4	.	.	PUNCT
dad-13359	852	1	isbn	isbn	PROPN
dad-13359	852	2	978	978	NUM
dad-13359	852	3	-	-	SYM
dad-13359	852	4	981	981	NUM
dad-13359	852	5	-	-	PUNCT
dad-13359	852	6	19	19	NUM
dad-13359	852	7	-	-	PUNCT
dad-13359	852	8	55389	55389	NUM
dad-13359	852	9	.	.	PUNCT
dad-13359	853	1	url	url	VERB
dad-13359	853	2	https://nr.brage.unit.no/nr-xmlui/bitstream/handle/11250/	https://nr.brage.unit.no/nr-xmlui/bitstream/handle/11250/	NOUN
dad-13359	853	3	3055827	3055827	NUM
dad-13359	853	4	/	/	SYM
dad-13359	853	5	iwsds_2021.pdf?sequence=1	iwsds_2021.pdf?sequence=1	PROPN
dad-13359	853	6	.	.	PUNCT
dad-13359	854	1	nicholas	nicholas	PROPN
dad-13359	854	2	thomas	thomas	PROPN
dad-13359	854	3	walker	walker	PROPN
dad-13359	854	4	,	,	PUNCT
dad-13359	854	5	stefan	stefan	PROPN
dad-13359	854	6	ultes	ultes	PROPN
dad-13359	854	7	,	,	PUNCT
dad-13359	854	8	and	and	CCONJ
dad-13359	854	9	pierre	pierre	PROPN
dad-13359	854	10	lison	lison	NOUN
dad-13359	854	11	.	.	PUNCT
dad-13359	855	1	retrieval	retrieval	NOUN
dad-13359	855	2	-	-	PUNCT
dad-13359	855	3	augmented	augment	VERB
dad-13359	855	4	neural	neural	ADJ
dad-13359	855	5	response	response	NOUN
dad-13359	855	6	generation	generation	NOUN
dad-13359	855	7	using	use	VERB
dad-13359	855	8	logical	logical	ADJ
dad-13359	855	9	reasoning	reasoning	NOUN
dad-13359	855	10	and	and	CCONJ
dad-13359	855	11	relevance	relevance	NOUN
dad-13359	855	12	scoring	scoring	NOUN
dad-13359	855	13	.	.	PUNCT
dad-13359	856	1	in	in	ADP
dad-13359	856	2	proceedings	proceeding	NOUN
dad-13359	856	3	of	of	ADP
dad-13359	856	4	the	the	DET
dad-13359	856	5	27th	27th	ADJ
dad-13359	856	6	workshop	workshop	NOUN
dad-13359	856	7	on	on	ADP
dad-13359	856	8	the	the	DET
dad-13359	856	9	semantics	semantic	NOUN
dad-13359	856	10	and	and	CCONJ
dad-13359	856	11	pragmatics	pragmatic	NOUN
dad-13359	856	12	of	of	ADP
dad-13359	856	13	dialogue	dialogue	NOUN
dad-13359	856	14	,	,	PUNCT
dad-13359	856	15	full	full	ADJ
dad-13359	856	16	papers	paper	NOUN
dad-13359	856	17	,	,	PUNCT
dad-13359	856	18	2023	2023	NUM
dad-13359	856	19	.	.	PUNCT
dad-13359	856	20	url	url	PROPN
dad-13359	856	21	https://arxiv	https://arxiv	PROPN
dad-13359	856	22	.	.	PUNCT
dad-13359	856	23	org	org	PROPN
dad-13359	856	24	/	/	SYM
dad-13359	856	25	pdf/2310.13566.pdf	pdf/2310.13566.pdf	PROPN
dad-13359	856	26	.	.	PUNCT
dad-13359	857	1	yanmeng	yanmeng	PROPN
dad-13359	857	2	wang	wang	PROPN
dad-13359	857	3	,	,	PUNCT
dad-13359	857	4	ye	ye	PROPN
dad-13359	857	5	wang	wang	PROPN
dad-13359	857	6	,	,	PUNCT
dad-13359	857	7	xingyu	xingyu	PROPN
dad-13359	857	8	lou	lou	PROPN
dad-13359	857	9	,	,	PUNCT
dad-13359	857	10	wenge	wenge	PROPN
dad-13359	857	11	rong	rong	PROPN
dad-13359	857	12	,	,	PUNCT
dad-13359	857	13	zhenghong	zhenghong	PROPN
dad-13359	857	14	hao	hao	PROPN
dad-13359	857	15	,	,	PUNCT
dad-13359	857	16	and	and	CCONJ
dad-13359	857	17	shaojun	shaojun	PROPN
dad-13359	857	18	wang	wang	PROPN
dad-13359	857	19	.	.	PUNCT
dad-13359	858	1	improving	improve	VERB
dad-13359	858	2	dialogue	dialogue	NOUN
dad-13359	858	3	response	response	NOUN
dad-13359	858	4	generation	generation	NOUN
dad-13359	858	5	via	via	ADP
dad-13359	858	6	knowledge	knowledge	NOUN
dad-13359	858	7	graph	graph	NOUN
dad-13359	858	8	filter	filter	NOUN
dad-13359	858	9	.	.	PUNCT
dad-13359	859	1	in	in	ADP
dad-13359	859	2	icassp	icassp	NOUN
dad-13359	859	3	2021	2021	NUM
dad-13359	859	4	-	-	SYM
dad-13359	859	5	2021	2021	NUM
dad-13359	859	6	ieee	ieee	NOUN
dad-13359	859	7	international	international	ADJ
dad-13359	859	8	conference	conference	NOUN
dad-13359	859	9	on	on	ADP
dad-13359	859	10	acoustics	acoustic	NOUN
dad-13359	859	11	,	,	PUNCT
dad-13359	859	12	speech	speech	NOUN
dad-13359	859	13	and	and	CCONJ
dad-13359	859	14	signal	signal	NOUN
dad-13359	859	15	processing	processing	NOUN
dad-13359	859	16	(	(	PUNCT
dad-13359	859	17	icassp	icassp	PROPN
dad-13359	859	18	)	)	PUNCT
dad-13359	859	19	,	,	PUNCT
dad-13359	859	20	pages	page	NOUN
dad-13359	859	21	7423	7423	NUM
dad-13359	859	22	–	–	PUNCT
dad-13359	859	23	7427	7427	NUM
dad-13359	859	24	.	.	PUNCT
dad-13359	860	1	ieee	ieee	NOUN
dad-13359	860	2	,	,	PUNCT
dad-13359	860	3	2021	2021	NUM
dad-13359	860	4	.	.	PUNCT
dad-13359	861	1	url	url	PROPN
dad-13359	861	2	https://ieeexplore.ieee.org/document/9414324	https://ieeexplore.ieee.org/document/9414324	NOUN
dad-13359	861	3	.	.	PUNCT
dad-13359	862	1	jason	jason	PROPN
dad-13359	862	2	wei	wei	PROPN
dad-13359	862	3	,	,	PUNCT
dad-13359	862	4	yi	yi	PROPN
dad-13359	862	5	tay	tay	PROPN
dad-13359	862	6	,	,	PUNCT
dad-13359	862	7	rishi	rishi	PROPN
dad-13359	862	8	bommasani	bommasani	NOUN
dad-13359	862	9	,	,	PUNCT
dad-13359	862	10	colin	colin	PROPN
dad-13359	862	11	raffel	raffel	PROPN
dad-13359	862	12	,	,	PUNCT
dad-13359	862	13	barret	barret	PROPN
dad-13359	862	14	zoph	zoph	NOUN
dad-13359	862	15	,	,	PUNCT
dad-13359	862	16	sebastian	sebastian	PROPN
dad-13359	862	17	borgeaud	borgeaud	PROPN
dad-13359	862	18	,	,	PUNCT
dad-13359	862	19	dani	dani	PROPN
dad-13359	862	20	yogatama	yogatama	PROPN
dad-13359	862	21	,	,	PUNCT
dad-13359	862	22	maarten	maarten	PROPN
dad-13359	862	23	bosma	bosma	PROPN
dad-13359	862	24	,	,	PUNCT
dad-13359	862	25	denny	denny	PROPN
dad-13359	862	26	zhou	zhou	PROPN
dad-13359	862	27	,	,	PUNCT
dad-13359	862	28	donald	donald	PROPN
dad-13359	862	29	metzler	metzler	PROPN
dad-13359	862	30	,	,	PUNCT
dad-13359	862	31	et	et	PROPN
dad-13359	862	32	al	al	PROPN
dad-13359	862	33	.	.	PROPN
dad-13359	862	34	emergent	emergent	ADJ
dad-13359	862	35	abilities	ability	NOUN
dad-13359	862	36	of	of	ADP
dad-13359	862	37	large	large	ADJ
dad-13359	862	38	language	language	NOUN
dad-13359	862	39	models	model	NOUN
dad-13359	862	40	.	.	PUNCT
dad-13359	863	1	arxiv	arxiv	PROPN
dad-13359	863	2	preprint	preprint	VERB
dad-13359	863	3	arxiv:2206.07682	arxiv:2206.07682	ADP
dad-13359	863	4	,	,	PUNCT
dad-13359	863	5	2022	2022	NUM
dad-13359	863	6	.	.	PUNCT
dad-13359	864	1	url	url	PROPN
dad-13359	864	2	https://arxiv.org/pdf/	https://arxiv.org/pdf/	NOUN
dad-13359	864	3	2206.07682.pdf?trk=cndc-detail	2206.07682.pdf?trk=cndc-detail	NUM
dad-13359	864	4	.	.	PUNCT
dad-13359	865	1	graham	graham	PROPN
dad-13359	865	2	wilcock	wilcock	PROPN
dad-13359	865	3	and	and	CCONJ
dad-13359	865	4	kristiina	kristiina	PROPN
dad-13359	865	5	jokinen	jokinen	PROPN
dad-13359	865	6	.	.	PUNCT
dad-13359	866	1	conversational	conversational	ADJ
dad-13359	866	2	ai	ai	NOUN
dad-13359	866	3	and	and	CCONJ
dad-13359	866	4	knowledge	knowledge	NOUN
dad-13359	866	5	graphs	graph	NOUN
dad-13359	866	6	for	for	ADP
dad-13359	866	7	social	social	ADJ
dad-13359	866	8	robot	robot	NOUN
dad-13359	866	9	interaction	interaction	NOUN
dad-13359	866	10	.	.	PUNCT
dad-13359	867	1	in	in	ADP
dad-13359	867	2	2022	2022	NUM
dad-13359	867	3	17th	17th	NOUN
dad-13359	867	4	acm	acm	PROPN
dad-13359	867	5	/	/	SYM
dad-13359	867	6	ieee	ieee	PROPN
dad-13359	867	7	international	international	ADJ
dad-13359	867	8	conference	conference	NOUN
dad-13359	867	9	on	on	ADP
dad-13359	867	10	human	human	ADJ
dad-13359	867	11	-	-	PUNCT
dad-13359	867	12	robot	robot	NOUN
dad-13359	867	13	interaction	interaction	NOUN
dad-13359	867	14	(	(	PUNCT
dad-13359	867	15	hri	hri	PROPN
dad-13359	867	16	)	)	PUNCT
dad-13359	867	17	,	,	PUNCT
dad-13359	867	18	pages	page	NOUN
dad-13359	867	19	1090–1094	1090–1094	NUM
dad-13359	867	20	.	.	PUNCT
dad-13359	868	1	ieee	ieee	NOUN
dad-13359	868	2	,	,	PUNCT
dad-13359	868	3	2022	2022	NUM
dad-13359	868	4	.	.	PUNCT
dad-13359	869	1	url	url	PROPN
dad-13359	869	2	https://helda.helsinki.fi/server/api/	https://helda.helsinki.fi/server/api/	PROPN
dad-13359	869	3	core	core	PROPN
dad-13359	869	4	/	/	SYM
dad-13359	869	5	bitstreams/60e2a300	bitstreams/60e2a300	PROPN
dad-13359	869	6	-	-	PUNCT
dad-13359	869	7	e51d-4b86	e51d-4b86	NOUN
dad-13359	869	8	-	-	PUNCT
dad-13359	869	9	8558	8558	NUM
dad-13359	869	10	-	-	PUNCT
dad-13359	869	11	06e7326e7f3b	06e7326e7f3b	NOUN
dad-13359	869	12	/	/	SYM
dad-13359	869	13	content	content	NOUN
dad-13359	869	14	.	.	PUNCT
dad-13359	870	1	frank	frank	PROPN
dad-13359	870	2	wilcoxon	wilcoxon	PROPN
dad-13359	870	3	.	.	PUNCT
dad-13359	871	1	individual	individual	ADJ
dad-13359	871	2	comparisons	comparison	NOUN
dad-13359	871	3	by	by	ADP
dad-13359	871	4	ranking	rank	VERB
dad-13359	871	5	methods	method	NOUN
dad-13359	871	6	.	.	PUNCT
dad-13359	872	1	biometrics	biometric	NOUN
dad-13359	872	2	bulletin	bulletin	NOUN
dad-13359	872	3	,	,	PUNCT
dad-13359	872	4	1(6):80–83	1(6):80–83	NUM
dad-13359	872	5	,	,	PUNCT
dad-13359	872	6	1945	1945	NUM
dad-13359	872	7	.	.	PUNCT
dad-13359	873	1	93	93	NUM
dad-13359	873	2	https://aclanthology.org/d19-1194	https://aclanthology.org/d19-1194	PROPN
dad-13359	873	3	https://arxiv.org/pdf/2302.08399.pdf	https://arxiv.org/pdf/2302.08399.pdf	PROPN
dad-13359	873	4	https://arxiv.org/pdf/2206.10498	https://arxiv.org/pdf/2206.10498	ADJ
dad-13359	873	5	https://proceedings.neurips.cc/paper/2017/file/3f5ee243547dee91fbd053c1c4a845aa-paper.pdf	https://proceedings.neurips.cc/paper/2017/file/3f5ee243547dee91fbd053c1c4a845aa-paper.pdf	PROPN
dad-13359	873	6	https://proceedings.neurips.cc/paper/2017/file/3f5ee243547dee91fbd053c1c4a845aa-paper.pdf	https://proceedings.neurips.cc/paper/2017/file/3f5ee243547dee91fbd053c1c4a845aa-paper.pdf	PROPN
dad-13359	873	7	https://rrl.cse.unr.edu/media/documents/2016/498.pdf	https://rrl.cse.unr.edu/media/documents/2016/498.pdf	VERB
dad-13359	873	8	https://nr.brage.unit.no/nr-xmlui/bitstream/handle/11250/3055827/iwsds_2021.pdf?sequence=1	https://nr.brage.unit.no/nr-xmlui/bitstream/handle/11250/3055827/iwsds_2021.pdf?sequence=1	NUM
dad-13359	873	9	https://nr.brage.unit.no/nr-xmlui/bitstream/handle/11250/3055827/iwsds_2021.pdf?sequence=1	https://nr.brage.unit.no/nr-xmlui/bitstream/handle/11250/3055827/iwsds_2021.pdf?sequence=1	NUM
dad-13359	873	10	https://arxiv.org/pdf/2310.13566.pdf	https://arxiv.org/pdf/2310.13566.pdf	NOUN
dad-13359	873	11	https://arxiv.org/pdf/2310.13566.pdf	https://arxiv.org/pdf/2310.13566.pdf	PROPN
dad-13359	873	12	https://ieeexplore.ieee.org/document/9414324	https://ieeexplore.ieee.org/document/9414324	ADJ
dad-13359	873	13	https://arxiv.org/pdf/2206.07682.pdf?trk=cndc-detail	https://arxiv.org/pdf/2206.07682.pdf?trk=cndc-detail	ADJ
dad-13359	873	14	https://arxiv.org/pdf/2206.07682.pdf?trk=cndc-detail	https://arxiv.org/pdf/2206.07682.pdf?trk=cndc-detail	ADJ
dad-13359	873	15	https://helda.helsinki.fi/server/api/core/bitstreams/60e2a300-e51d-4b86-8558-06e7326e7f3b/content	https://helda.helsinki.fi/server/api/core/bitstreams/60e2a300-e51d-4b86-8558-06e7326e7f3b/content	NUM
dad-13359	873	16	https://helda.helsinki.fi/server/api/core/bitstreams/60e2a300-e51d-4b86-8558-06e7326e7f3b/content	https://helda.helsinki.fi/server/api/core/bitstreams/60e2a300-e51d-4b86-8558-06e7326e7f3b/content	X
dad-13359	873	17	walker	walker	PROPN
dad-13359	873	18	,	,	PUNCT
dad-13359	873	19	ultes	ulte	NOUN
dad-13359	873	20	and	and	CCONJ
dad-13359	873	21	lison	lison	PROPN
dad-13359	873	22	jason	jason	PROPN
dad-13359	873	23	d	d	PROPN
dad-13359	873	24	williams	williams	PROPN
dad-13359	873	25	,	,	PUNCT
dad-13359	873	26	antoine	antoine	PROPN
dad-13359	873	27	raux	raux	PROPN
dad-13359	873	28	,	,	PUNCT
dad-13359	873	29	and	and	CCONJ
dad-13359	873	30	matthew	matthew	PROPN
dad-13359	873	31	henderson	henderson	PROPN
dad-13359	873	32	.	.	PUNCT
dad-13359	874	1	the	the	DET
dad-13359	874	2	dialog	dialog	NOUN
dad-13359	874	3	state	state	NOUN
dad-13359	874	4	tracking	tracking	NOUN
dad-13359	874	5	challenge	challenge	NOUN
dad-13359	874	6	series	series	NOUN
dad-13359	874	7	:	:	PUNCT
dad-13359	874	8	a	a	DET
dad-13359	874	9	review	review	NOUN
dad-13359	874	10	.	.	PUNCT
dad-13359	875	1	dialogue	dialogue	NOUN
dad-13359	875	2	&	&	CCONJ
dad-13359	875	3	discourse	discourse	PROPN
dad-13359	875	4	,	,	PUNCT
dad-13359	875	5	7(3):4–33	7(3):4–33	PROPN
dad-13359	875	6	,	,	PUNCT
dad-13359	875	7	2016	2016	NUM
dad-13359	875	8	.	.	PUNCT
dad-13359	875	9	url	url	VERB
dad-13359	875	10	https://core.ac.uk/	https://core.ac.uk/	NOUN
dad-13359	875	11	download	download	NOUN
dad-13359	875	12	/	/	SYM
dad-13359	875	13	pdf/230775555.pdf	pdf/230775555.pdf	PROPN
dad-13359	875	14	.	.	PUNCT
dad-13359	876	1	peng	peng	PROPN
dad-13359	876	2	wu	wu	PROPN
dad-13359	876	3	,	,	PUNCT
dad-13359	876	4	bowei	bowei	PROPN
dad-13359	876	5	zou	zou	PROPN
dad-13359	876	6	,	,	PUNCT
dad-13359	876	7	ridong	ridong	VERB
dad-13359	876	8	jiang	jiang	PROPN
dad-13359	876	9	,	,	PUNCT
dad-13359	876	10	and	and	CCONJ
dad-13359	876	11	aiti	aiti	NOUN
dad-13359	876	12	aw	aw	INTJ
dad-13359	876	13	.	.	PROPN
dad-13359	876	14	gcdst	gcdst	NOUN
dad-13359	876	15	:	:	PUNCT
dad-13359	876	16	a	a	DET
dad-13359	876	17	graph	graph	NOUN
dad-13359	876	18	-	-	PUNCT
dad-13359	876	19	based	base	VERB
dad-13359	876	20	and	and	CCONJ
dad-13359	876	21	copy	copy	NOUN
dad-13359	876	22	-	-	PUNCT
dad-13359	876	23	augmented	augment	VERB
dad-13359	876	24	multi	multi	ADJ
dad-13359	876	25	-	-	ADJ
dad-13359	876	26	domain	domain	ADJ
dad-13359	876	27	dialogue	dialogue	NOUN
dad-13359	876	28	state	state	NOUN
dad-13359	876	29	tracking	tracking	NOUN
dad-13359	876	30	.	.	PUNCT
dad-13359	877	1	in	in	ADP
dad-13359	877	2	findings	finding	NOUN
dad-13359	877	3	of	of	ADP
dad-13359	877	4	the	the	DET
dad-13359	877	5	association	association	NOUN
dad-13359	877	6	for	for	ADP
dad-13359	877	7	computational	computational	ADJ
dad-13359	877	8	linguistics	linguistic	NOUN
dad-13359	877	9	:	:	PUNCT
dad-13359	877	10	emnlp	emnlp	PROPN
dad-13359	877	11	2020	2020	NUM
dad-13359	877	12	,	,	PUNCT
dad-13359	877	13	pages	page	NOUN
dad-13359	877	14	1063–1073	1063–1073	NUM
dad-13359	877	15	,	,	PUNCT
dad-13359	877	16	online	online	ADJ
dad-13359	877	17	,	,	PUNCT
dad-13359	877	18	november	november	PROPN
dad-13359	877	19	2020	2020	NUM
dad-13359	877	20	.	.	PUNCT
dad-13359	878	1	association	association	NOUN
dad-13359	878	2	for	for	ADP
dad-13359	878	3	computational	computational	ADJ
dad-13359	878	4	linguistics	linguistic	NOUN
dad-13359	878	5	.	.	PUNCT
dad-13359	879	1	doi	doi	NOUN
dad-13359	879	2	:	:	PUNCT
dad-13359	879	3	10.18653	10.18653	NUM
dad-13359	879	4	/	/	SYM
dad-13359	879	5	v1/2020.findings	v1/2020.finding	NOUN
dad-13359	879	6	-	-	PUNCT
dad-13359	879	7	emnlp.95	emnlp.95	NOUN
dad-13359	879	8	.	.	PUNCT
dad-13359	879	9	url	url	PROPN
dad-13359	879	10	https://aclanthology	https://aclanthology	PROPN
dad-13359	879	11	.	.	PUNCT
dad-13359	880	1	org/2020.findings	org/2020.finding	NOUN
dad-13359	880	2	-	-	PUNCT
dad-13359	880	3	emnlp.95	emnlp.95	NOUN
dad-13359	880	4	.	.	PUNCT
dad-13359	881	1	bowen	bowen	PROPN
dad-13359	881	2	xing	xing	PROPN
dad-13359	881	3	and	and	CCONJ
dad-13359	881	4	ivor	ivor	PROPN
dad-13359	881	5	w	w	PROPN
dad-13359	881	6	tsang	tsang	PROPN
dad-13359	881	7	.	.	PUNCT
dad-13359	882	1	relational	relational	ADJ
dad-13359	882	2	temporal	temporal	ADJ
dad-13359	882	3	graph	graph	NOUN
dad-13359	882	4	reasoning	reasoning	NOUN
dad-13359	882	5	for	for	ADP
dad-13359	882	6	dual	dual	ADJ
dad-13359	882	7	-	-	PUNCT
dad-13359	882	8	task	task	NOUN
dad-13359	882	9	dialogue	dialogue	NOUN
dad-13359	882	10	language	language	NOUN
dad-13359	882	11	understanding	understanding	NOUN
dad-13359	882	12	.	.	PUNCT
dad-13359	883	1	ieee	ieee	NOUN
dad-13359	883	2	transactions	transaction	NOUN
dad-13359	883	3	on	on	ADP
dad-13359	883	4	pattern	pattern	NOUN
dad-13359	883	5	analysis	analysis	NOUN
dad-13359	883	6	and	and	CCONJ
dad-13359	883	7	machine	machine	NOUN
dad-13359	883	8	intelligence	intelligence	NOUN
dad-13359	883	9	,	,	PUNCT
dad-13359	883	10	2023	2023	NUM
dad-13359	883	11	.	.	PUNCT
dad-13359	884	1	url	url	PROPN
dad-13359	884	2	https://arxiv.org/pdf/2306.09114.pdf	https://arxiv.org/pdf/2306.09114.pdf	PROPN
dad-13359	884	3	.	.	PUNCT
dad-13359	885	1	kun	kun	PROPN
dad-13359	885	2	xu	xu	PROPN
dad-13359	885	3	,	,	PUNCT
dad-13359	885	4	lingfei	lingfei	PROPN
dad-13359	885	5	wu	wu	PROPN
dad-13359	885	6	,	,	PUNCT
dad-13359	885	7	zhiguo	zhiguo	PROPN
dad-13359	885	8	wang	wang	PROPN
dad-13359	885	9	,	,	PUNCT
dad-13359	885	10	yansong	yansong	PROPN
dad-13359	885	11	feng	feng	PROPN
dad-13359	885	12	,	,	PUNCT
dad-13359	885	13	and	and	CCONJ
dad-13359	885	14	vadim	vadim	PROPN
dad-13359	885	15	sheinin	sheinin	PROPN
dad-13359	885	16	.	.	PUNCT
dad-13359	886	1	sql	sql	PROPN
dad-13359	886	2	-	-	PUNCT
dad-13359	886	3	to	to	ADP
dad-13359	886	4	-	-	PUNCT
dad-13359	886	5	text	text	NOUN
dad-13359	886	6	generation	generation	NOUN
dad-13359	886	7	with	with	ADP
dad-13359	886	8	graph	graph	NOUN
dad-13359	886	9	-	-	PUNCT
dad-13359	886	10	to	to	ADP
dad-13359	886	11	-	-	PUNCT
dad-13359	886	12	sequence	sequence	NOUN
dad-13359	886	13	model	model	NOUN
dad-13359	886	14	.	.	PUNCT
dad-13359	887	1	arxiv	arxiv	PROPN
dad-13359	887	2	preprint	preprint	NOUN
dad-13359	887	3	arxiv:1809.05255	arxiv:1809.05255	PROPN
dad-13359	887	4	,	,	PUNCT
dad-13359	887	5	2018	2018	NUM
dad-13359	887	6	.	.	PUNCT
dad-13359	888	1	url	url	PROPN
dad-13359	888	2	https://arxiv	https://arxiv	PROPN
dad-13359	888	3	.	.	PUNCT
dad-13359	888	4	org	org	PROPN
dad-13359	888	5	/	/	SYM
dad-13359	888	6	pdf/1809.05255.pdf	pdf/1809.05255.pdf	PROPN
dad-13359	888	7	.	.	PUNCT
dad-13359	889	1	pengfei	pengfei	PROPN
dad-13359	889	2	xu	xu	PROPN
dad-13359	889	3	,	,	PUNCT
dad-13359	889	4	xiaojun	xiaojun	PROPN
dad-13359	889	5	chang	chang	PROPN
dad-13359	889	6	,	,	PUNCT
dad-13359	889	7	ling	ling	PROPN
dad-13359	889	8	guo	guo	PROPN
dad-13359	889	9	,	,	PUNCT
dad-13359	889	10	po	po	NOUN
dad-13359	889	11	-	-	PUNCT
dad-13359	889	12	yao	yao	PROPN
dad-13359	889	13	huang	huang	PROPN
dad-13359	889	14	,	,	PUNCT
dad-13359	889	15	xiaojiang	xiaojiang	PROPN
dad-13359	889	16	chen	chen	PROPN
dad-13359	889	17	,	,	PUNCT
dad-13359	889	18	and	and	CCONJ
dad-13359	889	19	alexander	alexander	PROPN
dad-13359	889	20	g	g	PROPN
dad-13359	889	21	hauptmann	hauptmann	PROPN
dad-13359	889	22	.	.	PUNCT
dad-13359	890	1	a	a	DET
dad-13359	890	2	survey	survey	NOUN
dad-13359	890	3	of	of	ADP
dad-13359	890	4	scene	scene	NOUN
dad-13359	890	5	graph	graph	NOUN
dad-13359	890	6	:	:	PUNCT
dad-13359	890	7	generation	generation	NOUN
dad-13359	890	8	and	and	CCONJ
dad-13359	890	9	application	application	NOUN
dad-13359	890	10	.	.	PUNCT
dad-13359	891	1	ieee	ieee	PROPN
dad-13359	891	2	trans	trans	PROPN
dad-13359	891	3	.	.	PUNCT
dad-13359	892	1	neural	neural	ADJ
dad-13359	892	2	netw	netw	NOUN
dad-13359	892	3	.	.	PUNCT
dad-13359	893	1	learn	learn	VERB
dad-13359	893	2	.	.	PUNCT
dad-13359	894	1	syst	syst	PROPN
dad-13359	894	2	,	,	PUNCT
dad-13359	894	3	1:1	1:1	NUM
dad-13359	894	4	,	,	PUNCT
dad-13359	894	5	2020	2020	NUM
dad-13359	894	6	.	.	PUNCT
dad-13359	895	1	url	url	PROPN
dad-13359	895	2	https://www.researchgate.net/	https://www.researchgate.net/	NOUN
dad-13359	895	3	profile	profile	NOUN
dad-13359	895	4	/	/	SYM
dad-13359	895	5	xiaojun	xiaojun	PROPN
dad-13359	895	6	-	-	PUNCT
dad-13359	895	7	chang-6	chang-6	NUM
dad-13359	895	8	/	/	SYM
dad-13359	895	9	publication/340528049_a_survey_of_scene	publication/340528049_a_survey_of_scene	NOUN
dad-13359	895	10	_	_	NOUN
dad-13359	895	11	graph_generation_and_application	graph_generation_and_application	NOUN
dad-13359	895	12	/	/	SYM
dad-13359	895	13	links/5e8eedb9a6fdcca789020994/	links/5e8eedb9a6fdcca789020994/	NOUN
dad-13359	895	14	a-survey-of-scene-graph-generation-and-application.pdf	a-survey-of-scene-graph-generation-and-application.pdf	PROPN
dad-13359	895	15	.	.	PROPN
dad-13359	896	1	xiaoyu	xiaoyu	PROPN
dad-13359	896	2	yang	yang	PROPN
dad-13359	896	3	,	,	PUNCT
dad-13359	896	4	feng	feng	PROPN
dad-13359	896	5	nie	nie	PROPN
dad-13359	896	6	,	,	PUNCT
dad-13359	896	7	yufei	yufei	PROPN
dad-13359	896	8	feng	feng	PROPN
dad-13359	896	9	,	,	PUNCT
dad-13359	896	10	quan	quan	PROPN
dad-13359	896	11	liu	liu	PROPN
dad-13359	896	12	,	,	PUNCT
dad-13359	896	13	zhigang	zhigang	PROPN
dad-13359	896	14	chen	chen	PROPN
dad-13359	896	15	,	,	PUNCT
dad-13359	896	16	and	and	CCONJ
dad-13359	896	17	xiaodan	xiaodan	PROPN
dad-13359	896	18	zhu	zhu	PROPN
dad-13359	896	19	.	.	PUNCT
dad-13359	897	1	program	program	NOUN
dad-13359	897	2	enhanced	enhance	VERB
dad-13359	897	3	fact	fact	NOUN
dad-13359	897	4	verification	verification	NOUN
dad-13359	897	5	with	with	ADP
dad-13359	897	6	verbalization	verbalization	NOUN
dad-13359	897	7	and	and	CCONJ
dad-13359	897	8	graph	graph	NOUN
dad-13359	897	9	attention	attention	NOUN
dad-13359	897	10	network	network	NOUN
dad-13359	897	11	.	.	PUNCT
dad-13359	898	1	arxiv	arxiv	PROPN
dad-13359	898	2	preprint	preprint	VERB
dad-13359	898	3	arxiv:2010.03084	arxiv:2010.03084	NOUN
dad-13359	898	4	,	,	PUNCT
dad-13359	898	5	2020	2020	NUM
dad-13359	898	6	.	.	PUNCT
dad-13359	899	1	url	url	PROPN
dad-13359	899	2	https://arxiv.org/pdf/2010.03084.pdf	https://arxiv.org/pdf/2010.03084.pdf	PROPN
dad-13359	899	3	.	.	PUNCT
dad-13359	900	1	steve	steve	PROPN
dad-13359	900	2	young	young	PROPN
dad-13359	900	3	,	,	PUNCT
dad-13359	900	4	milica	milica	PROPN
dad-13359	900	5	gašić	gašić	PROPN
dad-13359	900	6	,	,	PUNCT
dad-13359	900	7	blaise	blaise	PROPN
dad-13359	900	8	thomson	thomson	PROPN
dad-13359	900	9	,	,	PUNCT
dad-13359	900	10	and	and	CCONJ
dad-13359	900	11	jason	jason	PROPN
dad-13359	900	12	d	d	PROPN
dad-13359	900	13	williams	williams	PROPN
dad-13359	900	14	.	.	PUNCT
dad-13359	900	15	pomdp	pomdp	NOUN
dad-13359	900	16	-	-	PUNCT
dad-13359	900	17	based	base	VERB
dad-13359	900	18	statistical	statistical	ADJ
dad-13359	900	19	spoken	spoken	ADJ
dad-13359	900	20	dialog	dialog	NOUN
dad-13359	900	21	systems	system	NOUN
dad-13359	900	22	:	:	PUNCT
dad-13359	900	23	a	a	DET
dad-13359	900	24	review	review	NOUN
dad-13359	900	25	.	.	PUNCT
dad-13359	901	1	proceedings	proceeding	NOUN
dad-13359	901	2	of	of	ADP
dad-13359	901	3	the	the	DET
dad-13359	901	4	ieee	ieee	NOUN
dad-13359	901	5	,	,	PUNCT
dad-13359	901	6	101(5):1160–1179	101(5):1160–1179	NUM
dad-13359	901	7	,	,	PUNCT
dad-13359	901	8	2013	2013	NUM
dad-13359	901	9	.	.	PUNCT
dad-13359	902	1	url	url	PROPN
dad-13359	902	2	https	https	NOUN
dad-13359	902	3	:	:	PUNCT
dad-13359	902	4	//cs.brown.edu	//cs.brown.edu	PROPN
dad-13359	902	5	/	/	SYM
dad-13359	902	6	courses	course	NOUN
dad-13359	902	7	/	/	SYM
dad-13359	902	8	csci2951	csci2951	PROPN
dad-13359	902	9	-	-	PUNCT
dad-13359	902	10	k	k	NOUN
dad-13359	902	11	/	/	SYM
dad-13359	902	12	papers	paper	NOUN
dad-13359	902	13	/	/	SYM
dad-13359	902	14	young13.pdf	young13.pdf	PROPN
dad-13359	902	15	.	.	PUNCT
dad-13359	903	1	andy	andy	PROPN
dad-13359	903	2	zeng	zeng	PROPN
dad-13359	903	3	,	,	PUNCT
dad-13359	903	4	maria	maria	PROPN
dad-13359	903	5	attarian	attarian	PROPN
dad-13359	903	6	,	,	PUNCT
dad-13359	903	7	brian	brian	PROPN
dad-13359	903	8	ichter	ichter	PROPN
dad-13359	903	9	,	,	PUNCT
dad-13359	903	10	krzysztof	krzysztof	PROPN
dad-13359	903	11	choromanski	choromanski	PROPN
dad-13359	903	12	,	,	PUNCT
dad-13359	903	13	adrian	adrian	PROPN
dad-13359	903	14	wong	wong	PROPN
dad-13359	903	15	,	,	PUNCT
dad-13359	903	16	stefan	stefan	PROPN
dad-13359	903	17	welker	welker	PROPN
dad-13359	903	18	,	,	PUNCT
dad-13359	903	19	federico	federico	PROPN
dad-13359	903	20	tombari	tombari	PROPN
dad-13359	903	21	,	,	PUNCT
dad-13359	903	22	aveek	aveek	PROPN
dad-13359	903	23	purohit	purohit	PROPN
dad-13359	903	24	,	,	PUNCT
dad-13359	903	25	michael	michael	PROPN
dad-13359	903	26	ryoo	ryoo	PROPN
dad-13359	903	27	,	,	PUNCT
dad-13359	903	28	vikas	vikas	NOUN
dad-13359	903	29	sindhwani	sindhwani	PROPN
dad-13359	903	30	,	,	PUNCT
dad-13359	903	31	et	et	PROPN
dad-13359	903	32	al	al	PROPN
dad-13359	903	33	.	.	PUNCT
dad-13359	904	1	socratic	socratic	ADJ
dad-13359	904	2	models	model	NOUN
dad-13359	904	3	:	:	PUNCT
dad-13359	904	4	composing	compose	VERB
dad-13359	904	5	zero	zero	NUM
dad-13359	904	6	-	-	PUNCT
dad-13359	904	7	shot	shot	NOUN
dad-13359	904	8	multimodal	multimodal	NOUN
dad-13359	904	9	reasoning	reasoning	NOUN
dad-13359	904	10	with	with	ADP
dad-13359	904	11	language	language	NOUN
dad-13359	904	12	.	.	PUNCT
dad-13359	905	1	arxiv	arxiv	PROPN
dad-13359	905	2	preprint	preprint	PROPN
dad-13359	905	3	arxiv:2204.00598	arxiv:2204.00598	NOUN
dad-13359	905	4	,	,	PUNCT
dad-13359	905	5	2022	2022	NUM
dad-13359	905	6	.	.	PUNCT
dad-13359	906	1	url	url	PROPN
dad-13359	906	2	https://arxiv.org/pdf/2204.00598.pdf	https://arxiv.org/pdf/2204.00598.pdf	PROPN
dad-13359	906	3	.	.	PUNCT
dad-13359	907	1	min	min	PROPN
dad-13359	907	2	zhang	zhang	PROPN
dad-13359	907	3	,	,	PUNCT
dad-13359	907	4	jingxiang	jingxiang	PROPN
dad-13359	907	5	chen	chen	PROPN
dad-13359	907	6	,	,	PUNCT
dad-13359	907	7	pengfei	pengfei	PROPN
dad-13359	907	8	li	li	PROPN
dad-13359	907	9	,	,	PUNCT
dad-13359	907	10	ming	ming	PROPN
dad-13359	907	11	jiang	jiang	PROPN
dad-13359	907	12	,	,	PUNCT
dad-13359	907	13	and	and	CCONJ
dad-13359	907	14	zhe	zhe	PROPN
dad-13359	907	15	zhou	zhou	PROPN
dad-13359	907	16	.	.	PUNCT
dad-13359	908	1	topic	topic	NOUN
dad-13359	908	2	scene	scene	NOUN
dad-13359	908	3	graphs	graph	NOUN
dad-13359	908	4	for	for	ADP
dad-13359	908	5	image	image	NOUN
dad-13359	908	6	captioning	captioning	NOUN
dad-13359	908	7	.	.	PUNCT
dad-13359	909	1	iet	iet	PROPN
dad-13359	909	2	computer	computer	PROPN
dad-13359	909	3	vision	vision	PROPN
dad-13359	909	4	,	,	PUNCT
dad-13359	909	5	16(4):364–375	16(4):364–375	NOUN
dad-13359	909	6	,	,	PUNCT
dad-13359	909	7	2022	2022	NUM
dad-13359	909	8	.	.	PUNCT
dad-13359	910	1	url	url	PROPN
dad-13359	910	2	https://ietresearch	https://ietresearch	NOUN
dad-13359	910	3	.	.	PUNCT
dad-13359	911	1	onlinelibrary.wiley.com/doi/pdf/10.1049/cvi2.12093	onlinelibrary.wiley.com/doi/pdf/10.1049/cvi2.12093	PROPN
dad-13359	911	2	.	.	PUNCT
dad-13359	912	1	yizhe	yizhe	PROPN
dad-13359	912	2	zhang	zhang	PROPN
dad-13359	912	3	,	,	PUNCT
dad-13359	912	4	siqi	siqi	PROPN
dad-13359	912	5	sun	sun	PROPN
dad-13359	912	6	,	,	PUNCT
dad-13359	912	7	michel	michel	PROPN
dad-13359	912	8	galley	galley	PROPN
dad-13359	912	9	,	,	PUNCT
dad-13359	912	10	yen	yen	NOUN
dad-13359	912	11	-	-	PUNCT
dad-13359	912	12	chun	chun	PROPN
dad-13359	912	13	chen	chen	PROPN
dad-13359	912	14	,	,	PUNCT
dad-13359	912	15	chris	chris	PROPN
dad-13359	912	16	brockett	brockett	PROPN
dad-13359	912	17	,	,	PUNCT
dad-13359	912	18	xiang	xiang	PROPN
dad-13359	912	19	gao	gao	PROPN
dad-13359	912	20	,	,	PUNCT
dad-13359	912	21	jianfeng	jianfeng	PROPN
dad-13359	912	22	gao	gao	PROPN
dad-13359	912	23	,	,	PUNCT
dad-13359	912	24	jingjing	jingjing	PROPN
dad-13359	912	25	liu	liu	PROPN
dad-13359	912	26	,	,	PUNCT
dad-13359	912	27	and	and	CCONJ
dad-13359	912	28	william	william	PROPN
dad-13359	912	29	b	b	PROPN
dad-13359	912	30	dolan	dolan	PROPN
dad-13359	912	31	.	.	PUNCT
dad-13359	913	1	dialogpt	dialogpt	NOUN
dad-13359	913	2	:	:	PUNCT
dad-13359	913	3	large	large	ADJ
dad-13359	913	4	-	-	PUNCT
dad-13359	913	5	scale	scale	NOUN
dad-13359	913	6	generative	generative	ADJ
dad-13359	913	7	pre	pre	NOUN
dad-13359	913	8	-	-	NOUN
dad-13359	913	9	training	training	NOUN
dad-13359	913	10	for	for	ADP
dad-13359	913	11	conversational	conversational	ADJ
dad-13359	913	12	response	response	NOUN
dad-13359	913	13	generation	generation	NOUN
dad-13359	913	14	.	.	PUNCT
dad-13359	914	1	in	in	ADP
dad-13359	914	2	proceedings	proceeding	NOUN
dad-13359	914	3	of	of	ADP
dad-13359	914	4	the	the	DET
dad-13359	914	5	58th	58th	ADJ
dad-13359	914	6	annual	annual	ADJ
dad-13359	914	7	meeting	meeting	NOUN
dad-13359	914	8	of	of	ADP
dad-13359	914	9	the	the	DET
dad-13359	914	10	association	association	NOUN
dad-13359	914	11	for	for	ADP
dad-13359	914	12	computational	computational	ADJ
dad-13359	914	13	linguistics	linguistic	NOUN
dad-13359	914	14	:	:	PUNCT
dad-13359	914	15	system	system	NOUN
dad-13359	914	16	demonstrations	demonstration	NOUN
dad-13359	914	17	,	,	PUNCT
dad-13359	914	18	pages	page	NOUN
dad-13359	914	19	270–278	270–278	NUM
dad-13359	914	20	,	,	PUNCT
dad-13359	914	21	2020	2020	NUM
dad-13359	914	22	.	.	PUNCT
dad-13359	914	23	url	url	PROPN
dad-13359	914	24	https://aclanthology.org/2020.acl-demos.30.pdf	https://aclanthology.org/2020.acl-demos.30.pdf	PROPN
dad-13359	914	25	.	.	PUNCT
dad-13359	915	1	94	94	NUM
dad-13359	915	2	https://core.ac.uk/download/pdf/230775555.pdf	https://core.ac.uk/download/pdf/230775555.pdf	PROPN
dad-13359	915	3	https://core.ac.uk/download/pdf/230775555.pdf	https://core.ac.uk/download/pdf/230775555.pdf	PROPN
dad-13359	915	4	https://aclanthology.org/2020.findings-emnlp.95	https://aclanthology.org/2020.findings-emnlp.95	PROPN
dad-13359	915	5	https://aclanthology.org/2020.findings-emnlp.95	https://aclanthology.org/2020.findings-emnlp.95	NOUN
dad-13359	915	6	https://arxiv.org/pdf/2306.09114.pdf	https://arxiv.org/pdf/2306.09114.pdf	PROPN
dad-13359	915	7	https://arxiv.org/pdf/1809.05255.pdf	https://arxiv.org/pdf/1809.05255.pdf	PROPN
dad-13359	915	8	https://arxiv.org/pdf/1809.05255.pdf	https://arxiv.org/pdf/1809.05255.pdf	PROPN
dad-13359	915	9	https://www.researchgate.net/profile/xiaojun-chang-6/publication/340528049_a_survey_of_scene_graph_generation_and_application/links/5e8eedb9a6fdcca789020994/a-survey-of-scene-graph-generation-and-application.pdf	https://www.researchgate.net/profile/xiaojun-chang-6/publication/340528049_a_survey_of_scene_graph_generation_and_application/links/5e8eedb9a6fdcca789020994/a-survey-of-scene-graph-generation-and-application.pdf	PROPN
dad-13359	915	10	https://www.researchgate.net/profile/xiaojun-chang-6/publication/340528049_a_survey_of_scene_graph_generation_and_application/links/5e8eedb9a6fdcca789020994/a-survey-of-scene-graph-generation-and-application.pdf	https://www.researchgate.net/profile/xiaojun-chang-6/publication/340528049_a_survey_of_scene_graph_generation_and_application/links/5e8eedb9a6fdcca789020994/a-survey-of-scene-graph-generation-and-application.pdf	PROPN
dad-13359	915	11	https://www.researchgate.net/profile/xiaojun-chang-6/publication/340528049_a_survey_of_scene_graph_generation_and_application/links/5e8eedb9a6fdcca789020994/a-survey-of-scene-graph-generation-and-application.pdf	https://www.researchgate.net/profile/xiaojun-chang-6/publication/340528049_a_survey_of_scene_graph_generation_and_application/links/5e8eedb9a6fdcca789020994/a-survey-of-scene-graph-generation-and-application.pdf	PROPN
dad-13359	915	12	https://www.researchgate.net/profile/xiaojun-chang-6/publication/340528049_a_survey_of_scene_graph_generation_and_application/links/5e8eedb9a6fdcca789020994/a-survey-of-scene-graph-generation-and-application.pdf	https://www.researchgate.net/profile/xiaojun-chang-6/publication/340528049_a_survey_of_scene_graph_generation_and_application/links/5e8eedb9a6fdcca789020994/a-survey-of-scene-graph-generation-and-application.pdf	PROPN
dad-13359	915	13	https://arxiv.org/pdf/2010.03084.pdf	https://arxiv.org/pdf/2010.03084.pdf	PROPN
dad-13359	915	14	https://cs.brown.edu/courses/csci2951-k/papers/young13.pdf	https://cs.brown.edu/courses/csci2951-k/papers/young13.pdf	NOUN
dad-13359	915	15	https://cs.brown.edu/courses/csci2951-k/papers/young13.pdf	https://cs.brown.edu/courses/csci2951-k/papers/young13.pdf	PROPN
dad-13359	915	16	https://arxiv.org/pdf/2204.00598.pdf	https://arxiv.org/pdf/2204.00598.pdf	PROPN
dad-13359	915	17	https://ietresearch.onlinelibrary.wiley.com/doi/pdf/10.1049/cvi2.12093	https://ietresearch.onlinelibrary.wiley.com/doi/pdf/10.1049/cvi2.12093	PROPN
dad-13359	915	18	https://ietresearch.onlinelibrary.wiley.com/doi/pdf/10.1049/cvi2.12093	https://ietresearch.onlinelibrary.wiley.com/doi/pdf/10.1049/cvi2.12093	PROPN
dad-13359	915	19	https://aclanthology.org/2020.acl-demos.30.pdf	https://aclanthology.org/2020.acl-demos.30.pdf	PROPN
dad-13359	915	20	a	a	DET
dad-13359	915	21	graph	graph	NOUN
dad-13359	915	22	-	-	PUNCT
dad-13359	915	23	to	to	ADP
dad-13359	915	24	-	-	PUNCT
dad-13359	915	25	text	text	NOUN
dad-13359	915	26	approach	approach	NOUN
dad-13359	915	27	to	to	ADP
dad-13359	915	28	knowledge	knowledge	NOUN
dad-13359	915	29	-	-	PUNCT
dad-13359	915	30	grounded	ground	VERB
dad-13359	915	31	response	response	NOUN
dad-13359	915	32	generation	generation	NOUN
dad-13359	915	33	in	in	ADP
dad-13359	915	34	hri	hri	PROPN
dad-13359	915	35	yue	yue	PROPN
dad-13359	915	36	zhang	zhang	PROPN
dad-13359	915	37	,	,	PUNCT
dad-13359	915	38	yafu	yafu	PROPN
dad-13359	915	39	li	li	PROPN
dad-13359	915	40	,	,	PUNCT
dad-13359	915	41	leyang	leyang	PROPN
dad-13359	915	42	cui	cui	PROPN
dad-13359	915	43	,	,	PUNCT
dad-13359	915	44	deng	deng	PROPN
dad-13359	915	45	cai	cai	PROPN
dad-13359	915	46	,	,	PUNCT
dad-13359	915	47	lemao	lemao	PROPN
dad-13359	915	48	liu	liu	PROPN
dad-13359	915	49	,	,	PUNCT
dad-13359	915	50	tingchen	tingchen	PROPN
dad-13359	915	51	fu	fu	PROPN
dad-13359	915	52	,	,	PUNCT
dad-13359	915	53	xinting	xinte	VERB
dad-13359	915	54	huang	huang	PROPN
dad-13359	915	55	,	,	PUNCT
dad-13359	915	56	enbo	enbo	PROPN
dad-13359	915	57	zhao	zhao	PROPN
dad-13359	915	58	,	,	PUNCT
dad-13359	915	59	yu	yu	PROPN
dad-13359	915	60	zhang	zhang	PROPN
dad-13359	915	61	,	,	PUNCT
dad-13359	915	62	yulong	yulong	PROPN
dad-13359	915	63	chen	chen	PROPN
dad-13359	915	64	,	,	PUNCT
dad-13359	915	65	et	et	PROPN
dad-13359	915	66	al	al	PROPN
dad-13359	915	67	.	.	PUNCT
dad-13359	915	68	siren	siren	PROPN
dad-13359	915	69	’s	’s	PART
dad-13359	915	70	song	song	NOUN
dad-13359	915	71	in	in	ADP
dad-13359	915	72	the	the	DET
dad-13359	915	73	ai	ai	PROPN
dad-13359	915	74	ocean	ocean	NOUN
dad-13359	915	75	:	:	PUNCT
dad-13359	915	76	a	a	DET
dad-13359	915	77	survey	survey	NOUN
dad-13359	915	78	on	on	ADP
dad-13359	915	79	hallucination	hallucination	NOUN
dad-13359	915	80	in	in	ADP
dad-13359	915	81	large	large	ADJ
dad-13359	915	82	language	language	NOUN
dad-13359	915	83	models	model	NOUN
dad-13359	915	84	.	.	PUNCT
dad-13359	916	1	arxiv	arxiv	PROPN
dad-13359	916	2	preprint	preprint	PROPN
dad-13359	916	3	arxiv:2309.01219	arxiv:2309.01219	ADJ
dad-13359	916	4	,	,	PUNCT
dad-13359	916	5	2023	2023	NUM
dad-13359	916	6	.	.	PUNCT
dad-13359	917	1	url	url	PROPN
dad-13359	917	2	https	https	NOUN
dad-13359	917	3	:	:	PUNCT
dad-13359	917	4	//arxiv.org	//arxiv.org	SYM
dad-13359	917	5	/	/	SYM
dad-13359	917	6	pdf/2309.01219.pdf	pdf/2309.01219.pdf	PROPN
dad-13359	917	7	.	.	PUNCT
dad-13359	918	1	xufeng	xufeng	PROPN
dad-13359	918	2	zhao	zhao	PROPN
dad-13359	918	3	,	,	PUNCT
dad-13359	918	4	mengdi	mengdi	PROPN
dad-13359	918	5	li	li	PROPN
dad-13359	918	6	,	,	PUNCT
dad-13359	918	7	cornelius	cornelius	PROPN
dad-13359	918	8	weber	weber	PROPN
dad-13359	918	9	,	,	PUNCT
dad-13359	918	10	muhammad	muhammad	PROPN
dad-13359	918	11	burhan	burhan	PROPN
dad-13359	918	12	hafez	hafez	PROPN
dad-13359	918	13	,	,	PUNCT
dad-13359	918	14	and	and	CCONJ
dad-13359	918	15	stefan	stefan	PROPN
dad-13359	918	16	wermter	wermter	PROPN
dad-13359	918	17	.	.	PUNCT
dad-13359	919	1	chat	chat	VERB
dad-13359	919	2	with	with	ADP
dad-13359	919	3	the	the	DET
dad-13359	919	4	environment	environment	NOUN
dad-13359	919	5	:	:	PUNCT
dad-13359	919	6	interactive	interactive	ADJ
dad-13359	919	7	multimodal	multimodal	NOUN
dad-13359	919	8	perception	perception	NOUN
dad-13359	919	9	using	use	VERB
dad-13359	919	10	large	large	ADJ
dad-13359	919	11	language	language	NOUN
dad-13359	919	12	models	model	NOUN
dad-13359	919	13	.	.	PUNCT
dad-13359	920	1	arxiv	arxiv	PROPN
dad-13359	920	2	preprint	preprint	VERB
dad-13359	920	3	arxiv:2303.08268	arxiv:2303.08268	PROPN
dad-13359	920	4	,	,	PUNCT
dad-13359	920	5	2023	2023	NUM
dad-13359	920	6	.	.	PUNCT
dad-13359	921	1	url	url	PROPN
dad-13359	921	2	https://arxiv.org/pdf/2303.08268.pdf	https://arxiv.org/pdf/2303.08268.pdf	PROPN
dad-13359	921	3	.	.	PUNCT
dad-13359	922	1	appendix	appendix	PROPN
dad-13359	922	2	a.	a.	PROPN
dad-13359	922	3	vqa	vqa	PROPN
dad-13359	922	4	objects	object	VERB
dad-13359	922	5	“	"	PUNCT
dad-13359	922	6	a	a	DET
dad-13359	922	7	person	person	NOUN
dad-13359	922	8	”	"	PUNCT
dad-13359	922	9	,	,	PUNCT
dad-13359	922	10	“	"	PUNCT
dad-13359	922	11	a	a	DET
dad-13359	922	12	woman	woman	NOUN
dad-13359	922	13	”	"	PUNCT
dad-13359	922	14	,	,	PUNCT
dad-13359	922	15	“	"	PUNCT
dad-13359	922	16	a	a	DET
dad-13359	922	17	man	man	NOUN
dad-13359	922	18	”	"	PUNCT
dad-13359	922	19	,	,	PUNCT
dad-13359	922	20	“	"	PUNCT
dad-13359	922	21	a	a	DET
dad-13359	922	22	computer	computer	NOUN
dad-13359	922	23	”	"	PUNCT
dad-13359	922	24	,	,	PUNCT
dad-13359	922	25	“	"	PUNCT
dad-13359	922	26	a	a	DET
dad-13359	922	27	desk	desk	NOUN
dad-13359	922	28	”	"	PUNCT
dad-13359	922	29	,	,	PUNCT
dad-13359	922	30	“	"	PUNCT
dad-13359	922	31	a	a	DET
dad-13359	922	32	table	table	NOUN
dad-13359	922	33	”	"	PUNCT
dad-13359	922	34	,	,	PUNCT
dad-13359	922	35	“	"	PUNCT
dad-13359	922	36	a	a	DET
dad-13359	922	37	coffee	coffee	NOUN
dad-13359	922	38	mug	mug	NOUN
dad-13359	922	39	”	"	PUNCT
dad-13359	922	40	,	,	PUNCT
dad-13359	922	41	“	"	PUNCT
dad-13359	922	42	a	a	DET
dad-13359	922	43	chair	chair	NOUN
dad-13359	922	44	”	"	PUNCT
dad-13359	922	45	,	,	PUNCT
dad-13359	922	46	“	"	PUNCT
dad-13359	922	47	a	a	DET
dad-13359	922	48	whiteboard	whiteboard	NOUN
dad-13359	922	49	”	"	PUNCT
dad-13359	922	50	,	,	PUNCT
dad-13359	922	51	“	"	PUNCT
dad-13359	922	52	a	a	DET
dad-13359	922	53	garbage	garbage	NOUN
dad-13359	922	54	can	can	AUX
dad-13359	922	55	”	"	PUNCT
dad-13359	922	56	,	,	PUNCT
dad-13359	922	57	“	"	PUNCT
dad-13359	922	58	a	a	DET
dad-13359	922	59	door	door	NOUN
dad-13359	922	60	”	"	PUNCT
dad-13359	922	61	,	,	PUNCT
dad-13359	922	62	“	"	PUNCT
dad-13359	922	63	a	a	DET
dad-13359	922	64	window	window	NOUN
dad-13359	922	65	”	"	PUNCT
dad-13359	922	66	,	,	PUNCT
dad-13359	922	67	“	"	PUNCT
dad-13359	922	68	a	a	DET
dad-13359	922	69	plant	plant	NOUN
dad-13359	922	70	”	"	PUNCT
dad-13359	922	71	,	,	PUNCT
dad-13359	922	72	“	"	PUNCT
dad-13359	922	73	a	a	DET
dad-13359	922	74	fire	fire	NOUN
dad-13359	922	75	extinguisher	extinguisher	NOUN
dad-13359	922	76	”	"	PUNCT
dad-13359	922	77	,	,	PUNCT
dad-13359	922	78	“	"	PUNCT
dad-13359	922	79	a	a	DET
dad-13359	922	80	pillar	pillar	NOUN
dad-13359	922	81	”	"	PUNCT
dad-13359	922	82	,	,	PUNCT
dad-13359	922	83	“	"	PUNCT
dad-13359	922	84	fruit	fruit	NOUN
dad-13359	922	85	”	"	PUNCT
dad-13359	922	86	,	,	PUNCT
dad-13359	922	87	“	"	PUNCT
dad-13359	922	88	apples	apple	NOUN
dad-13359	922	89	”	"	PUNCT
dad-13359	922	90	,	,	PUNCT
dad-13359	922	91	“	"	PUNCT
dad-13359	922	92	bananas	banana	NOUN
dad-13359	922	93	”	"	PUNCT
dad-13359	922	94	,	,	PUNCT
dad-13359	922	95	“	"	PUNCT
dad-13359	922	96	flowers	flower	NOUN
dad-13359	922	97	”	"	PUNCT
dad-13359	922	98	,	,	PUNCT
dad-13359	922	99	“	"	PUNCT
dad-13359	922	100	magazines	magazine	NOUN
dad-13359	922	101	”	"	PUNCT
dad-13359	922	102	,	,	PUNCT
dad-13359	922	103	“	"	PUNCT
dad-13359	922	104	books	book	NOUN
dad-13359	922	105	”	"	PUNCT
dad-13359	922	106	,	,	PUNCT
dad-13359	922	107	“	"	PUNCT
dad-13359	922	108	a	a	DET
dad-13359	922	109	computer	computer	NOUN
dad-13359	922	110	mouse	mouse	NOUN
dad-13359	922	111	”	"	PUNCT
dad-13359	922	112	,	,	PUNCT
dad-13359	922	113	“	"	PUNCT
dad-13359	922	114	a	a	DET
dad-13359	922	115	couch	couch	NOUN
dad-13359	922	116	”	"	PUNCT
dad-13359	922	117	,	,	PUNCT
dad-13359	922	118	“	"	PUNCT
dad-13359	922	119	a	a	DET
dad-13359	922	120	tv	tv	NOUN
dad-13359	922	121	”	"	PUNCT
dad-13359	922	122	,	,	PUNCT
dad-13359	922	123	“	"	PUNCT
dad-13359	922	124	a	a	DET
dad-13359	922	125	wastebin	wastebin	NOUN
dad-13359	922	126	”	"	PUNCT
dad-13359	922	127	,	,	PUNCT
dad-13359	922	128	“	"	PUNCT
dad-13359	922	129	a	a	DET
dad-13359	922	130	pen	pen	NOUN
dad-13359	922	131	”	"	PUNCT
dad-13359	922	132	,	,	PUNCT
dad-13359	922	133	“	"	PUNCT
dad-13359	922	134	a	a	DET
dad-13359	922	135	pencil	pencil	NOUN
dad-13359	922	136	”	"	PUNCT
dad-13359	922	137	,	,	PUNCT
dad-13359	922	138	“	"	PUNCT
dad-13359	922	139	scissors	scissor	NOUN
dad-13359	922	140	”	"	PUNCT
dad-13359	922	141	,	,	PUNCT
dad-13359	922	142	“	"	PUNCT
dad-13359	922	143	folders	folder	NOUN
dad-13359	922	144	”	"	PUNCT
dad-13359	922	145	,	,	PUNCT
dad-13359	922	146	“	"	PUNCT
dad-13359	922	147	a	a	DET
dad-13359	922	148	light	light	ADJ
dad-13359	922	149	switch	switch	NOUN
dad-13359	922	150	”	"	PUNCT
dad-13359	922	151	,	,	PUNCT
dad-13359	922	152	”	"	PUNCT
dad-13359	922	153	cables	cable	NOUN
dad-13359	922	154	”	"	PUNCT
dad-13359	922	155	,	,	PUNCT
dad-13359	922	156	”	"	PUNCT
dad-13359	922	157	notebooks	notebook	NOUN
dad-13359	922	158	”	"	PUNCT
dad-13359	922	159	,	,	PUNCT
dad-13359	922	160	”	"	PUNCT
dad-13359	922	161	paper	paper	NOUN
dad-13359	922	162	”	"	PUNCT
dad-13359	922	163	,	,	PUNCT
dad-13359	922	164	“	"	PUNCT
dad-13359	922	165	a	a	DET
dad-13359	922	166	printer	printer	NOUN
dad-13359	922	167	”	"	PUNCT
dad-13359	922	168	,	,	PUNCT
dad-13359	922	169	“	"	PUNCT
dad-13359	922	170	a	a	DET
dad-13359	922	171	bookshelf	bookshelf	NOUN
dad-13359	922	172	”	"	PUNCT
dad-13359	922	173	,	,	PUNCT
dad-13359	922	174	“	"	PUNCT
dad-13359	922	175	bookshelves	bookshelf	NOUN
dad-13359	922	176	”	"	PUNCT
dad-13359	922	177	,	,	PUNCT
dad-13359	922	178	“	"	PUNCT
dad-13359	922	179	a	a	DET
dad-13359	922	180	painting	painting	NOUN
dad-13359	922	181	”	"	PUNCT
dad-13359	922	182	,	,	PUNCT
dad-13359	922	183	“	"	PUNCT
dad-13359	922	184	a	a	DET
dad-13359	922	185	camera	camera	NOUN
dad-13359	922	186	”	"	PUNCT
dad-13359	922	187	,	,	PUNCT
dad-13359	922	188	“	"	PUNCT
dad-13359	922	189	food	food	NOUN
dad-13359	922	190	”	"	PUNCT
dad-13359	922	191	,	,	PUNCT
dad-13359	922	192	“	"	PUNCT
dad-13359	922	193	cake	cake	NOUN
dad-13359	922	194	”	"	PUNCT
dad-13359	922	195	,	,	PUNCT
dad-13359	922	196	“	"	PUNCT
dad-13359	922	197	a	a	DET
dad-13359	922	198	light	light	NOUN
dad-13359	922	199	”	"	PUNCT
dad-13359	922	200	,	,	PUNCT
dad-13359	922	201	“	"	PUNCT
dad-13359	922	202	a	a	DET
dad-13359	922	203	lamp	lamp	NOUN
dad-13359	922	204	”	"	PUNCT
dad-13359	922	205	,	,	PUNCT
dad-13359	922	206	“	"	PUNCT
dad-13359	922	207	a	a	DET
dad-13359	922	208	stapler	stapler	NOUN
dad-13359	922	209	”	"	PUNCT
dad-13359	922	210	,	,	PUNCT
dad-13359	922	211	“	"	PUNCT
dad-13359	922	212	a	a	DET
dad-13359	922	213	red	red	ADJ
dad-13359	922	214	folder	folder	NOUN
dad-13359	922	215	”	"	PUNCT
dad-13359	922	216	,	,	PUNCT
dad-13359	922	217	“	"	PUNCT
dad-13359	922	218	a	a	DET
dad-13359	922	219	blue	blue	ADJ
dad-13359	922	220	folder	folder	NOUN
dad-13359	922	221	”	"	PUNCT
dad-13359	922	222	,	,	PUNCT
dad-13359	922	223	“	"	PUNCT
dad-13359	922	224	a	a	DET
dad-13359	922	225	yellow	yellow	ADJ
dad-13359	922	226	folder	folder	NOUN
dad-13359	922	227	”	"	PUNCT
dad-13359	922	228	,	,	PUNCT
dad-13359	922	229	“	"	PUNCT
dad-13359	922	230	a	a	DET
dad-13359	922	231	green	green	ADJ
dad-13359	922	232	folder	folder	NOUN
dad-13359	922	233	”	"	PUNCT
dad-13359	922	234	,	,	PUNCT
dad-13359	922	235	“	"	PUNCT
dad-13359	922	236	a	a	DET
dad-13359	922	237	broom	broom	NOUN
dad-13359	922	238	”	"	PUNCT
dad-13359	922	239	,	,	PUNCT
dad-13359	922	240	“	"	PUNCT
dad-13359	922	241	a	a	DET
dad-13359	922	242	blue	blue	ADJ
dad-13359	922	243	curtain	curtain	NOUN
dad-13359	922	244	”	"	PUNCT
dad-13359	922	245	,	,	PUNCT
dad-13359	922	246	“	"	PUNCT
dad-13359	922	247	a	a	DET
dad-13359	922	248	wooden	wooden	ADJ
dad-13359	922	249	pallet	pallet	NOUN
dad-13359	922	250	”	"	PUNCT
dad-13359	922	251	,	,	PUNCT
dad-13359	922	252	“	"	PUNCT
dad-13359	922	253	a	a	DET
dad-13359	922	254	marker	marker	NOUN
dad-13359	922	255	”	"	PUNCT
dad-13359	922	256	,	,	PUNCT
dad-13359	922	257	“	"	PUNCT
dad-13359	922	258	a	a	DET
dad-13359	922	259	copy	copy	NOUN
dad-13359	922	260	machine	machine	NOUN
dad-13359	922	261	”	"	PUNCT
dad-13359	922	262	,	,	PUNCT
dad-13359	922	263	”	"	PUNCT
dad-13359	922	264	cardboard	cardboard	NOUN
dad-13359	922	265	boxes	box	NOUN
dad-13359	922	266	”	"	PUNCT
dad-13359	922	267	appendix	appendix	X
dad-13359	922	268	b.	b.	PROPN
dad-13359	922	269	prompt	prompt	ADJ
dad-13359	922	270	format	format	NOUN
dad-13359	922	271	“	"	PUNCT
dad-13359	922	272	you	you	PRON
dad-13359	922	273	are	be	AUX
dad-13359	922	274	a	a	DET
dad-13359	922	275	robot	robot	NOUN
dad-13359	922	276	that	that	PRON
dad-13359	922	277	has	have	AUX
dad-13359	922	278	just	just	ADV
dad-13359	922	279	explored	explore	VERB
dad-13359	922	280	an	an	DET
dad-13359	922	281	office	office	NOUN
dad-13359	922	282	floor	floor	NOUN
dad-13359	922	283	and	and	CCONJ
dad-13359	922	284	recorded	record	VERB
dad-13359	922	285	observations	observation	NOUN
dad-13359	922	286	.	.	PUNCT
dad-13359	923	1	answer	answer	VERB
dad-13359	923	2	each	each	DET
dad-13359	923	3	question	question	NOUN
dad-13359	923	4	in	in	ADP
dad-13359	923	5	a	a	DET
dad-13359	923	6	short	short	ADJ
dad-13359	923	7	,	,	PUNCT
dad-13359	923	8	concise	concise	ADJ
dad-13359	923	9	sentence	sentence	NOUN
dad-13359	923	10	,	,	PUNCT
dad-13359	923	11	from	from	ADP
dad-13359	923	12	the	the	DET
dad-13359	923	13	robot	robot	NOUN
dad-13359	923	14	perspective	perspective	NOUN
dad-13359	923	15	.	.	PUNCT
dad-13359	924	1	example	example	NOUN
dad-13359	924	2	responses	response	NOUN
dad-13359	924	3	are	be	AUX
dad-13359	924	4	:	:	PUNCT
dad-13359	924	5	yes	yes	INTJ
dad-13359	924	6	,	,	PUNCT
dad-13359	924	7	i	i	PRON
dad-13359	924	8	saw	see	VERB
dad-13359	924	9	a	a	DET
dad-13359	924	10	woman	woman	NOUN
dad-13359	924	11	in	in	ADP
dad-13359	924	12	the	the	DET
dad-13359	924	13	main	main	ADJ
dad-13359	924	14	hallway	hallway	NOUN
dad-13359	924	15	.	.	PUNCT
dad-13359	925	1	i	i	PRON
dad-13359	925	2	may	may	AUX
dad-13359	925	3	have	have	AUX
dad-13359	925	4	seen	see	VERB
dad-13359	925	5	a	a	DET
dad-13359	925	6	fire	fire	NOUN
dad-13359	925	7	extinguisher	extinguisher	NOUN
dad-13359	925	8	,	,	PUNCT
dad-13359	925	9	but	but	CCONJ
dad-13359	925	10	i	i	PRON
dad-13359	925	11	’m	’m	VERB
dad-13359	925	12	not	not	PART
dad-13359	925	13	sure	sure	ADJ
dad-13359	925	14	.	.	PUNCT
dad-13359	926	1	sorry	sorry	ADJ
dad-13359	926	2	,	,	PUNCT
dad-13359	926	3	i	i	PRON
dad-13359	926	4	did	do	AUX
dad-13359	926	5	n’t	not	PART
dad-13359	926	6	see	see	VERB
dad-13359	926	7	any	any	DET
dad-13359	926	8	plants	plant	NOUN
dad-13359	926	9	in	in	ADP
dad-13359	926	10	the	the	DET
dad-13359	926	11	office	office	NOUN
dad-13359	926	12	.	.	PUNCT
dad-13359	927	1	we	we	PRON
dad-13359	927	2	traveled	travel	VERB
dad-13359	927	3	10	10	NUM
dad-13359	927	4	meters	meter	NOUN
dad-13359	927	5	in	in	ADP
dad-13359	927	6	the	the	DET
dad-13359	927	7	hallway	hallway	NOUN
dad-13359	927	8	.	.	PUNCT
dad-13359	928	1	i	i	PRON
dad-13359	928	2	saw	see	VERB
dad-13359	928	3	a	a	DET
dad-13359	928	4	bookshelf	bookshelf	NOUN
dad-13359	928	5	in	in	ADP
dad-13359	928	6	the	the	DET
dad-13359	928	7	first	first	ADJ
dad-13359	928	8	office	office	NOUN
dad-13359	928	9	,	,	PUNCT
dad-13359	928	10	but	but	CCONJ
dad-13359	928	11	not	not	PART
dad-13359	928	12	in	in	ADP
dad-13359	928	13	the	the	DET
dad-13359	928	14	second	second	ADJ
dad-13359	928	15	office	office	NOUN
dad-13359	928	16	.	.	PUNCT
dad-13359	929	1	we	we	PRON
dad-13359	929	2	first	first	ADV
dad-13359	929	3	went	go	VERB
dad-13359	929	4	to	to	ADP
dad-13359	929	5	an	an	DET
dad-13359	929	6	office	office	NOUN
dad-13359	929	7	,	,	PUNCT
dad-13359	929	8	then	then	ADV
dad-13359	929	9	to	to	ADP
dad-13359	929	10	the	the	DET
dad-13359	929	11	reception	reception	NOUN
dad-13359	929	12	area	area	NOUN
dad-13359	929	13	.	.	PUNCT
dad-13359	930	1	only	only	ADV
dad-13359	930	2	use	use	VERB
dad-13359	930	3	the	the	DET
dad-13359	930	4	provided	provide	VERB
dad-13359	930	5	observations	observation	NOUN
dad-13359	930	6	to	to	PART
dad-13359	930	7	arrive	arrive	VERB
dad-13359	930	8	at	at	ADP
dad-13359	930	9	your	your	PRON
dad-13359	930	10	answer	answer	NOUN
dad-13359	930	11	.	.	PUNCT
dad-13359	931	1	if	if	SCONJ
dad-13359	931	2	you	you	PRON
dad-13359	931	3	do	do	AUX
dad-13359	931	4	n’t	not	PART
dad-13359	931	5	know	know	VERB
dad-13359	931	6	the	the	DET
dad-13359	931	7	answer	answer	NOUN
dad-13359	931	8	,	,	PUNCT
dad-13359	931	9	just	just	ADV
dad-13359	931	10	say	say	VERB
dad-13359	931	11	that	that	SCONJ
dad-13359	931	12	you	you	PRON
dad-13359	931	13	do	do	AUX
dad-13359	931	14	n’t	not	PART
dad-13359	931	15	know	know	VERB
dad-13359	931	16	.	.	PUNCT
dad-13359	932	1	do	do	AUX
dad-13359	932	2	n’t	not	PART
dad-13359	932	3	try	try	VERB
dad-13359	932	4	to	to	PART
dad-13359	932	5	make	make	VERB
dad-13359	932	6	up	up	ADP
dad-13359	932	7	an	an	DET
dad-13359	932	8	answer	answer	NOUN
dad-13359	932	9	.	.	PUNCT
dad-13359	933	1	observations	observation	NOUN
dad-13359	933	2	:	:	PUNCT
dad-13359	934	1	[	[	X
dad-13359	934	2	triples	triple	NOUN
dad-13359	934	3	or	or	CCONJ
dad-13359	934	4	verbalized	verbalize	VERB
dad-13359	934	5	facts	fact	NOUN
dad-13359	934	6	]	]	PUNCT
dad-13359	934	7	”	"	PUNCT
dad-13359	934	8	95	95	NUM
dad-13359	934	9	https://arxiv.org/pdf/2309.01219.pdf	https://arxiv.org/pdf/2309.01219.pdf	PROPN
dad-13359	934	10	https://arxiv.org/pdf/2309.01219.pdf	https://arxiv.org/pdf/2309.01219.pdf	PROPN
dad-13359	934	11	https://arxiv.org/pdf/2303.08268.pdf	https://arxiv.org/pdf/2303.08268.pdf	PROPN
dad-13359	934	12	introduction	introduction	NOUN
dad-13359	934	13	background	background	NOUN
dad-13359	934	14	embodied	embody	VERB
dad-13359	934	15	conversational	conversational	ADJ
dad-13359	934	16	agents	agent	NOUN
dad-13359	934	17	knowledge	knowledge	NOUN
dad-13359	934	18	graphs	graph	NOUN
dad-13359	934	19	for	for	ADP
dad-13359	934	20	dialogue	dialogue	NOUN
dad-13359	934	21	graph	graph	NOUN
dad-13359	934	22	-	-	PUNCT
dad-13359	934	23	based	base	VERB
dad-13359	934	24	representations	representation	NOUN
dad-13359	934	25	graph	graph	NOUN
dad-13359	934	26	processing	process	VERB
dad-13359	934	27	large	large	ADJ
dad-13359	934	28	language	language	NOUN
dad-13359	934	29	models	model	NOUN
dad-13359	934	30	(	(	PUNCT
dad-13359	934	31	llms	llm	NOUN
dad-13359	934	32	)	)	PUNCT
dad-13359	934	33	response	response	NOUN
dad-13359	934	34	generation	generation	NOUN
dad-13359	934	35	with	with	ADP
dad-13359	934	36	llms	llm	NOUN
dad-13359	934	37	prompting	prompt	VERB
dad-13359	934	38	methods	method	NOUN
dad-13359	934	39	llms	llm	NOUN
dad-13359	934	40	in	in	ADP
dad-13359	934	41	embodied	embodied	ADJ
dad-13359	934	42	systems	system	NOUN
dad-13359	934	43	approach	approach	NOUN
dad-13359	934	44	state	state	NOUN
dad-13359	934	45	representation	representation	NOUN
dad-13359	934	46	state	state	NOUN
dad-13359	934	47	tracking	tracking	NOUN
dad-13359	934	48	&	&	CCONJ
dad-13359	934	49	postprocessing	postprocessing	PROPN
dad-13359	934	50	graph	graph	NOUN
dad-13359	934	51	updates	update	VERB
dad-13359	934	52	path	path	NOUN
dad-13359	934	53	generation	generation	NOUN
dad-13359	934	54	graph	graph	NOUN
dad-13359	934	55	-	-	PUNCT
dad-13359	934	56	to	to	ADP
dad-13359	934	57	-	-	PUNCT
dad-13359	934	58	text	text	NOUN
dad-13359	934	59	transformation	transformation	NOUN
dad-13359	934	60	verbalization	verbalization	NOUN
dad-13359	934	61	function	function	NOUN
dad-13359	934	62	parameter	parameter	NOUN
dad-13359	934	63	selection	selection	NOUN
dad-13359	934	64	response	response	NOUN
dad-13359	934	65	generation	generation	NOUN
dad-13359	934	66	experiments	experiment	VERB
dad-13359	934	67	experimental	experimental	ADJ
dad-13359	934	68	setup	setup	NOUN
dad-13359	934	69	system	system	NOUN
dad-13359	934	70	configuration	configuration	NOUN
dad-13359	934	71	robot	robot	NOUN
dad-13359	934	72	perception	perception	NOUN
dad-13359	934	73	dialogue	dialogue	NOUN
dad-13359	934	74	system	system	NOUN
dad-13359	934	75	user	user	NOUN
dad-13359	934	76	evaluation	evaluation	NOUN
dad-13359	934	77	analysis	analysis	NOUN
dad-13359	934	78	general	general	ADJ
dad-13359	934	79	observations	observation	NOUN
dad-13359	934	80	negation	negation	NOUN
dad-13359	934	81	words	word	NOUN
dad-13359	934	82	expression	expression	NOUN
dad-13359	934	83	of	of	ADP
dad-13359	934	84	uncertainty	uncertainty	NOUN
dad-13359	934	85	influence	influence	NOUN
dad-13359	934	86	of	of	ADP
dad-13359	934	87	model	model	NOUN
dad-13359	934	88	order	order	NOUN
dad-13359	934	89	outliers	outlier	NOUN
dad-13359	934	90	dialogue	dialogue	NOUN
dad-13359	934	91	examples	example	NOUN
dad-13359	934	92	discussion	discussion	NOUN
dad-13359	934	93	assessment	assessment	NOUN
dad-13359	934	94	of	of	ADP
dad-13359	934	95	factuality	factuality	NOUN
dad-13359	934	96	question	question	NOUN
dad-13359	934	97	types	type	NOUN
dad-13359	934	98	comparison	comparison	NOUN
dad-13359	934	99	between	between	ADP
dad-13359	934	100	approaches	approach	NOUN
dad-13359	934	101	non	non	ADJ
dad-13359	934	102	-	-	ADJ
dad-13359	934	103	linguistic	linguistic	ADJ
dad-13359	934	104	knowledge	knowledge	NOUN
dad-13359	934	105	limitations	limitation	NOUN
dad-13359	934	106	of	of	ADP
dad-13359	934	107	the	the	DET
dad-13359	934	108	experimental	experimental	ADJ
dad-13359	934	109	study	study	NOUN
dad-13359	934	110	conclusion	conclusion	NOUN
dad-13359	934	111	vqa	vqa	NOUN
dad-13359	934	112	objects	object	VERB
dad-13359	934	113	prompt	prompt	ADJ
dad-13359	934	114	format	format	NOUN