Before revision: We present a system that enables robotsto interpret spatial language as a distribution over object locations for effective search in partially observable cityscale environments.
After revision: Humans use spatial language to naturally describe object locations and their relations. Interpreting spatial language not only adds a perceptual modality for robots, but also reduces the barrier of interfacing with humans. Previous work primarily considers spatial language as a distribution over object locations for effective search in partially observable cityscale environments.