{"id":"https://openalex.org/W2909064322","doi":"https://doi.org/10.1109/iros.2018.8594313","title":"Learning Symbolic Representations for Planning with Parameterized Skills","display_name":"Learning Symbolic Representations for Planning with Parameterized Skills","publication_year":2018,"publication_date":"2018-10-01","ids":{"openalex":"https://openalex.org/W2909064322","doi":"https://doi.org/10.1109/iros.2018.8594313","mag":"2909064322"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2018.8594313","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8594313","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5061236187","display_name":"Barrett Ames","orcid":"https://orcid.org/0000-0003-1336-4842"},"institutions":[{"id":"https://openalex.org/I170897317","display_name":"Duke University","ror":"https://ror.org/00py81415","country_code":"US","type":"education","lineage":["https://openalex.org/I170897317"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Barrett Ames","raw_affiliation_strings":["Duke University Computer Science"],"affiliations":[{"raw_affiliation_string":"Duke University Computer Science","institution_ids":["https://openalex.org/I170897317"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062235778","display_name":"Allison Thackston","orcid":null},"institutions":[{"id":"https://openalex.org/I4391768151","display_name":"Toyota Research Institute","ror":"https://ror.org/04fpkc108","country_code":null,"type":"facility","lineage":["https://openalex.org/I4210125472","https://openalex.org/I4391768151"]}],"countries":[],"is_corresponding":false,"raw_author_name":"Allison Thackston","raw_affiliation_strings":["Toyota Research Institute"],"affiliations":[{"raw_affiliation_string":"Toyota Research Institute","institution_ids":["https://openalex.org/I4391768151"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5078124517","display_name":"George Konidaris","orcid":"https://orcid.org/0000-0002-4460-2519"},"institutions":[{"id":"https://openalex.org/I175594653","display_name":"John Brown University","ror":"https://ror.org/02ct41q97","country_code":"US","type":"education","lineage":["https://openalex.org/I175594653"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"George Konidaris","raw_affiliation_strings":["Brown University Computer Science"],"affiliations":[{"raw_affiliation_string":"Brown University Computer Science","institution_ids":["https://openalex.org/I175594653"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5061236187"],"corresponding_institution_ids":["https://openalex.org/I170897317"],"apc_list":null,"apc_paid":null,"fwci":1.7917,"has_fulltext":false,"cited_by_count":25,"citation_normalized_percentile":{"value":0.88972649,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"526","last_page":"533"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11574","display_name":"Artificial Intelligence in Games","score":0.9990000128746033,"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/T11574","display_name":"Artificial Intelligence in Games","score":0.9990000128746033,"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/T10906","display_name":"AI-based Problem Solving and Planning","score":0.9975000023841858,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9958999752998352,"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/computer-science","display_name":"Computer science","score":0.715666651725769},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.6778660416603088},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6359811425209045},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5935616493225098},{"id":"https://openalex.org/keywords/construct","display_name":"Construct (python library)","score":0.5751089453697205},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5568222999572754},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.5488888621330261},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4480677545070648},{"id":"https://openalex.org/keywords/plan","display_name":"Plan (archaeology)","score":0.4442741870880127},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.44096362590789795},{"id":"https://openalex.org/keywords/parameterized-complexity","display_name":"Parameterized complexity","score":0.4312071204185486},{"id":"https://openalex.org/keywords/domain","display_name":"Domain (mathematical analysis)","score":0.4203479290008545},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.3210437297821045},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.13121691346168518},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.09068036079406738},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.08625751733779907}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.715666651725769},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.6778660416603088},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6359811425209045},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5935616493225098},{"id":"https://openalex.org/C2780801425","wikidata":"https://www.wikidata.org/wiki/Q5164392","display_name":"Construct (python library)","level":2,"score":0.5751089453697205},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5568222999572754},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.5488888621330261},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4480677545070648},{"id":"https://openalex.org/C2776505523","wikidata":"https://www.wikidata.org/wiki/Q4785468","display_name":"Plan (archaeology)","level":2,"score":0.4442741870880127},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.44096362590789795},{"id":"https://openalex.org/C165464430","wikidata":"https://www.wikidata.org/wiki/Q1570441","display_name":"Parameterized complexity","level":2,"score":0.4312071204185486},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.4203479290008545},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3210437297821045},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.13121691346168518},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.09068036079406738},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.08625751733779907},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.0},{"id":"https://openalex.org/C95457728","wikidata":"https://www.wikidata.org/wiki/Q309","display_name":"History","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2018.8594313","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8594313","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/4","display_name":"Quality Education","score":0.6000000238418579}],"awards":[],"funders":[{"id":"https://openalex.org/F4320332180","display_name":"Defense Advanced Research Projects Agency","ror":"https://ror.org/02caytj08"},{"id":"https://openalex.org/F4320333566","display_name":"National Defense Science and Engineering Graduate","ror":null},{"id":"https://openalex.org/F4320337345","display_name":"Office of Naval Research","ror":"https://ror.org/00rk2pe57"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W1964478285","https://openalex.org/W2012392077","https://openalex.org/W2101234009","https://openalex.org/W2106699903","https://openalex.org/W2107193468","https://openalex.org/W2109910161","https://openalex.org/W2132467020","https://openalex.org/W2135639338","https://openalex.org/W2141664020","https://openalex.org/W2153635508","https://openalex.org/W2156779957","https://openalex.org/W2256420211","https://openalex.org/W2295598076","https://openalex.org/W2295984635","https://openalex.org/W2480429758","https://openalex.org/W2523801223","https://openalex.org/W2565233142","https://openalex.org/W2736337778","https://openalex.org/W2787066086","https://openalex.org/W2794922736","https://openalex.org/W2901136733","https://openalex.org/W2950511172","https://openalex.org/W2963312729","https://openalex.org/W3102476541","https://openalex.org/W4231268009","https://openalex.org/W6692312642","https://openalex.org/W6721648857","https://openalex.org/W6727468919","https://openalex.org/W6756486208"],"related_works":["https://openalex.org/W2051058708","https://openalex.org/W1494268238","https://openalex.org/W154868527","https://openalex.org/W1983207144","https://openalex.org/W2490706771","https://openalex.org/W2480116122","https://openalex.org/W4255576661","https://openalex.org/W1516574938","https://openalex.org/W2625725254","https://openalex.org/W2563912921"],"abstract_inverted_index":{"A":[0],"critical":[1],"capability":[2],"required":[3,66],"for":[4,105,139,174],"generally":[5],"intelligent":[6,68],"robot":[7,82,176],"behavior":[8,65],"is":[9],"the":[10,32,48,61,119,125],"ability":[11],"to":[12,16,36,59,75,88,94,100,117],"sequence":[13],"motor":[14,53,78,109,122],"skills":[15,123],"reach":[17],"a":[18,22,39,81,102,134,143,150,160,175],"goal.":[19],"This":[20],"requires":[21],"(typically":[23],"abstract)":[24],"representation":[25,103,138,158,173],"that":[26,73,147],"supports":[27],"goal-directed":[28],"planning,":[29],"which":[30,55,114],"raises":[31],"question":[33,46],"of":[34,50,64,67,121,127],"how":[35,93,99],"construct":[37,101],"such":[38],"representation.":[40],"Previous":[41],"work":[42,74],"has":[43],"addressed":[44],"this":[45,157],"in":[47,133,159],"context":[49],"simple":[51,135],"black-box":[52],"skills,":[54,79,110],"are":[56,115],"insufficiently":[57],"flexible":[58],"support":[60],"wide":[62],"range":[63],"robots.":[69],"We":[70,97,153],"now":[71],"extend":[72],"include":[76],"parametrized":[77,108],"where":[80],"must":[83],"both":[84],"select":[85],"an":[86,170],"action":[87],"execute":[89],"and":[90,111,167],"also":[91],"decide":[92],"parametrize":[95],"it.":[96],"show":[98],"suitable":[104],"planning":[106,140],"with":[107],"specify":[112],"conditions":[113],"sufficient":[116],"separate":[118],"selection":[120,145],"from":[124],"parametrization":[126],"those":[128],"skills.":[129],"Our":[130],"method":[131],"results":[132],"discrete":[136],"abstract":[137,171],"followed":[141],"by":[142],"parameter":[144],"process":[146],"operates":[148],"on":[149,164],"fixed":[151],"plan.":[152],"first":[154],"demonstrate":[155],"learning":[156],"virtual":[161],"domain":[162],"based":[163],"Angry":[165],"Birds":[166],"then":[168],"learn":[169],"symbolic":[172],"manipulation":[177],"task.":[178]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}