{"id":"https://openalex.org/W4413944829","doi":"https://doi.org/10.1109/icra55743.2025.11127391","title":"Controlled Robot Language with Frame Semantics (FrameCRL) for Autonomous Context-Aware High-Level Planning","display_name":"Controlled Robot Language with Frame Semantics (FrameCRL) for Autonomous Context-Aware High-Level Planning","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4413944829","doi":"https://doi.org/10.1109/icra55743.2025.11127391"},"language":"en","primary_location":{"id":"doi:10.1109/icra55743.2025.11127391","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11127391","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","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/A5102428787","display_name":"Dang T. Tran","orcid":null},"institutions":[{"id":"https://openalex.org/I17301866","display_name":"University of Alabama","ror":"https://ror.org/03xrrjk67","country_code":"US","type":"education","lineage":["https://openalex.org/I17301866"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dang Tran","raw_affiliation_strings":["The University of Alabama,Department of Computer Science,Tuscaloosa,AL,USA,35487"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The University of Alabama,Department of Computer Science,Tuscaloosa,AL,USA,35487","institution_ids":["https://openalex.org/I17301866"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004744438","display_name":"Fujian Yan","orcid":"https://orcid.org/0009-0005-8029-038X"},"institutions":[{"id":"https://openalex.org/I39587148","display_name":"Wichita State University","ror":"https://ror.org/00c4e7y75","country_code":"US","type":"education","lineage":["https://openalex.org/I39587148"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Fujian Yan","raw_affiliation_strings":["School of Computing, Wichita State University,Wichita,KS,USA,67260"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computing, Wichita State University,Wichita,KS,USA,67260","institution_ids":["https://openalex.org/I39587148"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100381952","display_name":"Qiang Zhang","orcid":"https://orcid.org/0000-0002-8806-9672"},"institutions":[{"id":"https://openalex.org/I17301866","display_name":"University of Alabama","ror":"https://ror.org/03xrrjk67","country_code":"US","type":"education","lineage":["https://openalex.org/I17301866"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Qiang Zhang","raw_affiliation_strings":["The University of Alabama,Department of Mechanical Engineering,Tuscaloosa,AL,USA,35487"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The University of Alabama,Department of Mechanical Engineering,Tuscaloosa,AL,USA,35487","institution_ids":["https://openalex.org/I17301866"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101569374","display_name":"Yinlong Zhang","orcid":"https://orcid.org/0000-0001-7611-7596"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yinlong Zhang","raw_affiliation_strings":["Shenyang Institute of Automation,Chinese Academy of Sciences"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shenyang Institute of Automation,Chinese Academy of Sciences","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5060311371","display_name":"Hongsheng He","orcid":"https://orcid.org/0000-0002-2810-865X"},"institutions":[{"id":"https://openalex.org/I17301866","display_name":"University of Alabama","ror":"https://ror.org/03xrrjk67","country_code":"US","type":"education","lineage":["https://openalex.org/I17301866"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hongsheng He","raw_affiliation_strings":["The University of Alabama,Department of Computer Science,Tuscaloosa,AL,USA,35487"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The University of Alabama,Department of Computer Science,Tuscaloosa,AL,USA,35487","institution_ids":["https://openalex.org/I17301866"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.7588,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.88368564,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"7248","last_page":"7254"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10906","display_name":"AI-based Problem Solving and Planning","score":0.9857000112533569,"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"}},"topics":[{"id":"https://openalex.org/T10906","display_name":"AI-based Problem Solving and Planning","score":0.9857000112533569,"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"}},{"id":"https://openalex.org/T13382","display_name":"Robotics and Automated Systems","score":0.9771999716758728,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9564999938011169,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/computer-science","display_name":"Computer science","score":0.7546520233154297},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.6046273708343506},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.6031244397163391},{"id":"https://openalex.org/keywords/semantics","display_name":"Semantics (computer science)","score":0.569939136505127},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5429680943489075},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3775350749492645},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.3645102381706238},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.35177239775657654}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7546520233154297},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.6046273708343506},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.6031244397163391},{"id":"https://openalex.org/C184337299","wikidata":"https://www.wikidata.org/wiki/Q1437428","display_name":"Semantics (computer science)","level":2,"score":0.569939136505127},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5429680943489075},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3775350749492645},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.3645102381706238},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.35177239775657654},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra55743.2025.11127391","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11127391","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G4330886435","display_name":null,"funder_award_id":"2420355,2327313","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":9,"referenced_works":["https://openalex.org/W2171246729","https://openalex.org/W2797922770","https://openalex.org/W2972154709","https://openalex.org/W2979352286","https://openalex.org/W3035849522","https://openalex.org/W3198685994","https://openalex.org/W3209464147","https://openalex.org/W4213168938","https://openalex.org/W4389264201"],"related_works":["https://openalex.org/W8302103","https://openalex.org/W3171631314","https://openalex.org/W2674584172","https://openalex.org/W2967743314","https://openalex.org/W2606825221","https://openalex.org/W2184085865","https://openalex.org/W2064245428","https://openalex.org/W2170721890","https://openalex.org/W2122871747","https://openalex.org/W1990892711"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"a":[3,94,158,164],"configurable":[4],"and":[5,56,79,118,141,161],"scalable":[6],"framework":[7],"based":[8,125],"on":[9,113,154],"Controlled":[10],"Robot":[11],"Language":[12],"with":[13,120],"Frame":[14],"Semantics":[15],"(FrameCRL)":[16],"for":[17],"plan":[18,128],"generation.":[19,129],"Given":[20],"natural":[21,115],"language":[22,116,122],"instructions,":[23],"FrameCRL":[24,110,136,150],"constructs":[25],"an":[26],"equivalent":[27],"formal":[28],"semantic":[29,45,52,59],"formulation":[30],"in":[31,67,127,137,167],"the":[32,44,57,80,84,104,133],"form":[33],"of":[34,83,109,135],"discourse":[35],"representation":[36],"structures":[37,46],"(DRS).":[38],"Imperative":[39],"verbs":[40],"are":[41,61,72,90],"extracted":[42],"from":[43,54],"as":[47],"keys":[48],"to":[49,63,75,144],"anchor":[50],"relevant":[51],"frames":[53,60],"FrameNet,":[55],"selected":[58],"used":[62],"construct":[64],"goal":[65],"statements":[66,71,89],"planning":[68,85,96],"language.":[69],"Non-imperative":[70],"further":[73],"analyzed":[74],"generate":[76],"object":[77],"specifications":[78],"initial":[81],"state":[82],"problem.":[86],"These":[87],"generated":[88],"then":[91],"merged":[92],"into":[93],"single":[95],"script,":[97],"which":[98],"can":[99],"be":[100],"solved":[101],"directly":[102],"by":[103],"integrated":[105],"planner.":[106],"The":[107,130,149],"performance":[108,166],"was":[111,151],"evaluated":[112],"various":[114],"corpora":[117],"compared":[119],"large":[121,146],"models":[123],"(LLM)":[124],"methods":[126],"results":[131],"demonstrated":[132],"outperformance":[134],"generating":[138],"high-quality":[139],"plans":[140],"its":[142],"capability":[143],"handle":[145],"context":[147],"scenarios.":[148],"also":[152],"tested":[153],"pick-and-place":[155],"tasks":[156],"using":[157],"dual-arm":[159],"robot":[160],"it":[162],"showcased":[163],"robust":[165],"linguistic":[168],"understanding.":[169]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}