{"id":"https://openalex.org/W3089675627","doi":"https://doi.org/10.1109/icra40945.2020.9197223","title":"Finding Missing Skills for High-Level Behaviors","display_name":"Finding Missing Skills for High-Level Behaviors","publication_year":2020,"publication_date":"2020-05-01","ids":{"openalex":"https://openalex.org/W3089675627","doi":"https://doi.org/10.1109/icra40945.2020.9197223","mag":"3089675627"},"language":"en","primary_location":{"id":"doi:10.1109/icra40945.2020.9197223","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9197223","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5066962702","display_name":"Adam Pacheck","orcid":"https://orcid.org/0000-0002-4349-1888"},"institutions":[{"id":"https://openalex.org/I205783295","display_name":"Cornell University","ror":"https://ror.org/05bnh6r87","country_code":"US","type":"education","lineage":["https://openalex.org/I205783295"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Adam Pacheck","raw_affiliation_strings":["Sibley School of Mechanical and Aerospace Engineering, Cornell University, Ithaca, NY, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Sibley School of Mechanical and Aerospace Engineering, Cornell University, Ithaca, NY, USA","institution_ids":["https://openalex.org/I205783295"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051271775","display_name":"Salar Moarref","orcid":null},"institutions":[{"id":"https://openalex.org/I205783295","display_name":"Cornell University","ror":"https://ror.org/05bnh6r87","country_code":"US","type":"education","lineage":["https://openalex.org/I205783295"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Salar Moarref","raw_affiliation_strings":["Sibley School of Mechanical and Aerospace Engineering, Cornell University, Ithaca, NY, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Sibley School of Mechanical and Aerospace Engineering, Cornell University, Ithaca, NY, USA","institution_ids":["https://openalex.org/I205783295"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5020074157","display_name":"Hadas Kress\u2010Gazit","orcid":"https://orcid.org/0000-0002-7754-1011"},"institutions":[{"id":"https://openalex.org/I205783295","display_name":"Cornell University","ror":"https://ror.org/05bnh6r87","country_code":"US","type":"education","lineage":["https://openalex.org/I205783295"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hadas Kress-Gazit","raw_affiliation_strings":["Sibley School of Mechanical and Aerospace Engineering, Cornell University, Ithaca, NY, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Sibley School of Mechanical and Aerospace Engineering, Cornell University, Ithaca, NY, USA","institution_ids":["https://openalex.org/I205783295"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I205783295"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"10335","last_page":"10341"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10142","display_name":"Formal Methods in Verification","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10142","display_name":"Formal Methods in Verification","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11450","display_name":"Model-Driven Software Engineering Techniques","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/1712","display_name":"Software"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10126","display_name":"Logic, programming, and type systems","score":0.9979000091552734,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/premise","display_name":"Premise","score":0.7818580865859985},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7469565868377686},{"id":"https://openalex.org/keywords/linear-temporal-logic","display_name":"Linear temporal logic","score":0.6864230036735535},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6622843146324158},{"id":"https://openalex.org/keywords/formalism","display_name":"Formalism (music)","score":0.6536242961883545},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5981549620628357},{"id":"https://openalex.org/keywords/temporal-logic","display_name":"Temporal logic","score":0.5659464001655579},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.504916250705719},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.46102744340896606},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4608132243156433},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.42758017778396606},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.42439568042755127},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.29597797989845276},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.16050630807876587},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.1591903269290924},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.06305503845214844}],"concepts":[{"id":"https://openalex.org/C2778023277","wikidata":"https://www.wikidata.org/wiki/Q321703","display_name":"Premise","level":2,"score":0.7818580865859985},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7469565868377686},{"id":"https://openalex.org/C4777664","wikidata":"https://www.wikidata.org/wiki/Q1536492","display_name":"Linear temporal logic","level":2,"score":0.6864230036735535},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6622843146324158},{"id":"https://openalex.org/C73301696","wikidata":"https://www.wikidata.org/wiki/Q5469984","display_name":"Formalism (music)","level":3,"score":0.6536242961883545},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5981549620628357},{"id":"https://openalex.org/C25016198","wikidata":"https://www.wikidata.org/wiki/Q781833","display_name":"Temporal logic","level":2,"score":0.5659464001655579},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.504916250705719},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.46102744340896606},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4608132243156433},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.42758017778396606},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.42439568042755127},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.29597797989845276},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.16050630807876587},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.1591903269290924},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.06305503845214844},{"id":"https://openalex.org/C153349607","wikidata":"https://www.wikidata.org/wiki/Q36649","display_name":"Visual arts","level":1,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C558565934","wikidata":"https://www.wikidata.org/wiki/Q2743","display_name":"Musical","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra40945.2020.9197223","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9197223","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Quality Education","score":0.8299999833106995,"id":"https://metadata.un.org/sdg/4"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1489183362","https://openalex.org/W1927741686","https://openalex.org/W2022850652","https://openalex.org/W2023808162","https://openalex.org/W2041701185","https://openalex.org/W2077578897","https://openalex.org/W2080267935","https://openalex.org/W2109525524","https://openalex.org/W2124339220","https://openalex.org/W2148446974","https://openalex.org/W2151958719","https://openalex.org/W2152924401","https://openalex.org/W2155020620","https://openalex.org/W2221866689","https://openalex.org/W2381901500","https://openalex.org/W2476245236","https://openalex.org/W2565233142","https://openalex.org/W2784743256","https://openalex.org/W2962927158","https://openalex.org/W2967324402","https://openalex.org/W6656255003"],"related_works":["https://openalex.org/W2124110813","https://openalex.org/W3021103820","https://openalex.org/W2763487042","https://openalex.org/W2521108391","https://openalex.org/W1532447905","https://openalex.org/W2031188261","https://openalex.org/W4285022830","https://openalex.org/W4232446061","https://openalex.org/W2077520193","https://openalex.org/W1513400763"],"abstract_inverted_index":{"Recently,":[0],"Linear":[1],"Temporal":[2],"Logic":[3],"(LTL)":[4],"has":[5,19,38],"been":[6,20],"used":[7,21],"as":[8],"a":[9,39,101,106],"formalism":[10],"for":[11,78,85],"defining":[12],"high-level":[13],"robot":[14,26,37,67,87,104],"tasks,":[15],"and":[16,105],"LTL":[17,60],"synthesis":[18],"to":[22,49,70],"automatically":[23,79],"create":[24],"correct-by-construction":[25],"control.":[27],"The":[28],"underlying":[29],"premise":[30],"of":[31,41,72],"this":[32,56],"approach":[33,99],"is":[34],"that":[35,45,62,88],"the":[36,51,86,91],"set":[40],"actions,":[42],"or":[43,82],"skills,":[44],"can":[46],"be":[47,64,94],"composed":[48],"achieve":[50],"high-":[52],"level":[53],"task.":[54],"In":[55],"paper":[57],"we":[58,75],"consider":[59],"specifications":[61],"cannot":[63],"synthesized":[65],"into":[66],"control":[68],"due":[69],"lack":[71],"appropriate":[73],"skills;":[74],"present":[76],"algorithms":[77],"suggesting":[80],"new":[81],"modified":[83],"skills":[84],"will":[89,93],"guarantee":[90],"task":[92],"achieved.":[95],"We":[96],"demonstrate":[97],"our":[98],"with":[100],"physical":[102],"Baxter":[103],"simulated":[107],"KUKA":[108],"IIWA":[109],"arm.":[110]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}