@article{accuratelyandefficientlyinterpretinghuma,
  title = {Accurately and Efficiently Interpreting Human-Robot Instructions of Varying Granularities},
  author = {Dilip Arumugam and Siddharth Karamcheti and Nakul Gopalan and Lawson L. S. Wong and Stefanie Tellex},
  year = {2017},
  eprint = {1704.06616},
  archivePrefix = {arXiv},
  url = {http://arxiv.org/abs/1704.06616v2},
}