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Accuracy of acquired phoneme sequences representing the names of places
We evaluated whether the names of places were properly learned for the considered teaching places. This experiment assumes a request for the best phoneme sequence INLINEFORM0 representing the self-position INLINEFORM1 for a robot. The robot moves close to each teaching place. The probability of a word INLINEFORM2 when the self-position INLINEFORM3 of the robot is given, INLINEFORM4 , can be obtained by using equation ( EQREF37 ). The word having the best probability was selected. We compared the PAR with the correct phoneme sequence and a selected name of the place. Because "kiqchiN" and "daidokoro" were taught for the same place, the word whose PAR was the higher score was adopted.

Fig. FIGREF63 shows the results of PAR for the word considered the name of a place. SpCoA (latticelm), the proposed method using the results of unsupervised word segmentation on the basis of the speech recognition results in the lattice format, showed the best PAR score. In the 1-best and BoS methods, a part syllable sequence of the name of a place was more minutely segmented as shown in Table TABREF55 . Therefore, the robot could not learn the name of the teaching place as a coherent phoneme sequence. In contrast, the robot could learn the names of teaching places more accurately by using the proposed method.
Question: How do they evaluate how their model acquired words?
Output:
PAR score