@article{Guadarrama15:UOD,<br>  doi = {10.1177/0278364915602059},<br>  title = {Understanding Object Descriptions in Robotics by Open-vocabulary Object Retrieval and Detection},<br>  journal = {International Journal of Robotics Research (IJRR)},<br>  author = {Sergio Guadarrama and Erik Rodner and Kate Saenko and Trevor Darrell},<br>  year = {2015},<br>  pages = {265-280},<br>}<br>