Robust Processing of Spoken Situated Dialogue	1
	Abstract	4
	Zusammenfassung	4
	Résumé	4
	Acknowledgements	8
	Introduction	15
	Processing spoken dialogue	16
	The issues	16
	Key ideas of our approach	19
	Discussion and relation to previous work	20
	Human-robot interaction	23
	A short historical background	23
	Scientific relevance of HRI	25
	Dimensions of HRI	26
	Cognitive systems for HRI	27
	Considered scenarios	28
	Playmate scenario	28
	Explorer scenario	29
	Outline	29
	Contributions	31
	I Background	33
	Situated spoken dialogue	35
	Linguistic analysis of spoken dialogue	35
	Example from the Apollo corpus	35
	Theoretical analysis	39
	Language, context and human cognition	42
	Phylogenetic and ontogenetic origins	42
	Situated human language processing	43
	Five working hypotheses	44
	Summary of the chapter	45
	Theoretical foundations	47
	Combinatory Categorial Grammar	47
	Lexicon	48
	Combinatory rules	49
	Derivations	49
	Hybrid Logic Dependency Semantics	49
	Hybrid logic	50
	Encoding linguistic meaning	53
	Syntax-semantics interface	54
	Segmented Discourse Representation Theory	56
	Dynamic semantics	56
	Rhetorical relations	58
	The SDRT approach in brief	59
	Event structure	60
	Summary of the chapter	60
	Software architecture	63
	Global architecture	64
	Cognitive Systems Architecture Schema	64
	CAST: an implementation toolkit for CAS	65
	The communication subarchitecture	68
	Representations	68
	Processes	74
	Summary of the chapter	80
	II Approach	83
	Situated Speech Recognition	85
	Introduction to the issue	85
	Psycholinguistic motivation	86
	Salience modeling	86
	Visual salience	87
	Linguistic salience	87
	Cross-modal salience model	88
	Lexical activation	89
	Language modeling	90
	Corpus generation	90
	Salience-driven, class-based language models	91
	Evaluation	92
	Evaluation procedure	92
	Results	92
	Analysis	93
	Summary of the chapter	94
	Robust Parsing of Spoken Dialogue	95
	Grammar relaxation	97
	New type-shifting rules	97
	Paradigmatic heap rules	100
	Discourse-level composition rules	101
	ASR error correction rules	101
	Control of grammar relaxation	102
	Discriminative models for parse selection	102
	Definition of the task	102
	A distribution-free approach	103
	Learning	105
	Training data	105
	Averaged perceptron	106
	Decoding	107
	Features	109
	Semantic features	109
	Syntactic features	110
	Contextual features	111
	Speech recognition features	112
	Additional extensions	113
	Incremental parse selection	113
	Max-margin classifier (SVM)	116
	Summary of the chapter	117
	III Evaluation & Conclusion	119
	Evaluation	121
	Testing data	121
	Evaluation procedure	122
	Types of quantitative results	122
	Quantitative results	124
	Comparison with baseline	125
	Discussion of results	128
	Conclusion	131
	Suggestions for further research	132
	IV Appendices	137
	Packing algorithm	139
	Example	139
	Data structures	142
	Pseudo-code	144
	Detailed results for parse selection	147
	Tables	147
	Figures	151
	Global results with all NBest hypotheses	151
	Detailed results for exact-match	153
	Detailed results for partial-match	155
	Domain-specific grammar for corpus generation	157
	Definitions	157
	Grammar specification	158
	References	177
	Index	195