@inproceedings{ontheperformanceofhierarchical,
  title = {On the Performance of Hierarchical Distributed Correspondence Graphs for Efficient Symbol Grounding of Robot Instructions},
  author = {Istvan Chung and Oron Propp and Matthew R. Walter and Thomas M. Howard},
  year = {2015},
  booktitle = {Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2015 9},
  url = {https://ttic.edu/ripl/publications/chung15.pdf},
}