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Percy Liang, Michael I Jordan and Dan Klein. 2009. Learning semantic correspondences with less supervision. In Proceedings of the Joint Conference of the 47th Annual Meeting of the ACL and the 4th International Joint Conference on Natural Language Processing of the AFNLP: Volume 1-Volume 1, pp 91--99. Association for Computational Linguistics. cit 67. [semparse, d=robocup] abstract google scholar

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