Parde, N., M. Papakostas, K. Tsiakas, and R. Nielsen. “"Is It Rectangular?" Using I Spy As an Interactive, Game-Based Approach to Multimodal Robot Learning”. Proceedings of the AAAI Conference on Artificial Intelligence, vol. 29, no. 1, Mar. 2015, doi:10.1609/aaai.v29i1.9723.