The TeamTalk Corpus: Route Instructions in Open Spaces

This paper describes the TeamTalk corpus, a new corpus of route instructions consisting of directions given to a robot. Participants provided instructions to a robot that needed to move to a marked location. The environment contained two robots and a symbolic destination marker, all within an open space. The corpus contains the collected speech, speech transcriptions, stimuli, and logs of all participant interactions from the experiment. Route instruction transcriptions are divided into steps and annotated as either metric-based or landmarkbased instructions. This corpus captured variability in directions for robots represented in 2-dimensional schematic, 3-dimensional virtual, and natural environments, all in the context of open space navigation.