Natural language understanding and dialog management are two integral components of interactive dialog systems. Previous research has used machine learning techniques to individually optimize these components, with different forms of direct and indirect supervision. We present an approach to integrate the learning of both a dialog strategy using reinforcement learning, and a semantic parser for robust natural language understanding, using only natural dialog interaction for supervision. Experimental results on a simulated task of robot instruction demonstrate that joint learning of both components improves dialog performance over learning either of these components alone.
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