I don't know of any well written texts about this for laymen, but if you're up for a slightly tough (not too bad) read, this paper provides a nice introduction

I don't know of any well written texts about this for laymen, but if you're up for a slightly tough (not too bad) read, this paper provides a nice introduction to the field from 2018, although a small part of it requires a little understanding of maths and statistics symbols. Grounded Language Learning: Where Robotics and NLP Meet* https://www.ijcai.org/Proceedings/2018/0810.pdf https://www.ijcai.org/Proceedings/2018/0810.pdf