  Robots are widely collaborating with human users in diferent tasks that
require high-level cognitive functions to make them able to discover the
surrounding environment. A difcult challenge that we briefy highlight in this
short paper is inferring the latent grammatical structure of language, which
includes grounding parts of speech (e.g., verbs, nouns, adjectives, and
prepositions) through visual perception, and induction of Combinatory
Categorial Grammar (CCG) for phrases. This paves the way towards grounding
phrases so as to make a robot able to understand human instructions
appropriately during interaction.
