Current computational approaches for analysing or generating code-mixed sentences do not explicitly model "naturalness" or "acceptability" of code-mixed sentences, but rely on training corpora to reflect distribution of acceptable code-mixed sentences. Modelling human judgement for the acceptability of code-mixed text can help in distinguishing natural code-mixed text and enable quality-controlled generation of code-mixed text. To this end, we construct Cline - a dataset containing human acceptability judgements for English-Hindi (en-hi) code-mixed text. Cline is the largest of its kind with 16,642 sentences, consisting of samples sourced from two sources: synthetically generated code-mixed text and samples collected from online social media. Our analysis establishes that popular code-mixing metrics such as CMI, Number of Switch Points, Burstines, which are used to filter/curate/compare code-mixed corpora have low correlation with human acceptability judgements, underlining the necessity of our dataset. Experiments using Cline demonstrate that simple Multilayer Perceptron (MLP) models trained solely on code-mixing metrics are outperformed by fine-tuned pre-trained Multilingual Large Language Models (MLLMs). Specifically, XLM-Roberta and Bernice outperform IndicBERT across different configurations in challenging data settings. Comparison with ChatGPT's zero and fewshot capabilities shows that MLLMs fine-tuned on larger data outperform ChatGPT, providing scope for improvement in code-mixed tasks. Zero-shot transfer from English-Hindi to English-Telugu acceptability judgments using our model checkpoints proves superior to random baselines, enabling application to other code-mixed language pairs and providing further avenues of research. We publicly release our human-annotated dataset, trained checkpoints, code-mix corpus, and code for data generation and model training.

Understanding the structural organisation of 3D indoor scenes in terms of rooms is often accomplished via floorplan extraction. Robotic tasks such as planning and navigation require a semantic understanding of the scene as well. This is typically achieved via object-level semantic segmentation. However, such methods struggle to segment out topological regions like "kitchen" in the scene. In this work, we introduce a two-step pipeline. First, we extract a topological map, i.e., floorplan of the indoor scene using a novel multi-channel occupancy representation. Then, we generate CLIP-aligned features and semantic labels for every room instance based on the objects it contains using a self-attention transformer. Our language-topology alignment supports natural language querying, e.g., a "place to cook" locates the "kitchen". We outperform the current state-of-the-art on room segmentation by ~20% and room classification by ~12%. Our detailed qualitative analysis and ablation studies provide insights into the problem of joint structural and semantic 3D scene understanding.