Language-enabled robots have been widely studied over the past years to
enable natural human-robot interaction and teaming in various real-world
applications. Language-enabled robots must be able to comprehend referring
expressions to identify a particular object from visual perception using a set
of referring attributes extracted from natural language. However, visual
observations of an object may not be available when it is referred to, and the
number of objects and attributes may also be unbounded in open worlds. To
address the challenges, we implement an attribute-based compositional zero-shot
learning method that uses a list of attributes to perform referring expression
comprehension in open worlds. We evaluate the approach on two datasets
including the MIT-States and the Clothing 16K. The preliminary experimental
results show that our implemented approach allows a robot to correctly identify
the objects referred to by human commands.

我们实现了一种基于属性的组合零样本学习方法，用于在开放世界中通过一系列属性执行指代表达式理解，初步实验结果表明我们的方法使机器人能够正确识别人类命令所指的对象。