{"id":"https://openalex.org/W3167674515","doi":"https://doi.org/10.1109/iros47612.2022.9981440","title":"Learning Neuro-Symbolic Relational Transition Models for Bilevel Planning","display_name":"Learning Neuro-Symbolic Relational Transition Models for Bilevel Planning","publication_year":2022,"publication_date":"2022-10-23","ids":{"openalex":"https://openalex.org/W3167674515","doi":"https://doi.org/10.1109/iros47612.2022.9981440","mag":"3167674515"},"language":"en","primary_location":{"id":"doi:10.1109/iros47612.2022.9981440","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981440","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 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/A5076794038","display_name":"Rohan Chitnis","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Rohan Chitnis","raw_affiliation_strings":["MIT Computer Science and Artificial Intelligence Laboratory"],"affiliations":[{"raw_affiliation_string":"MIT Computer Science and Artificial Intelligence Laboratory","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073565150","display_name":"Tom Silver","orcid":"https://orcid.org/0000-0002-3094-0410"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Tom Silver","raw_affiliation_strings":["MIT Computer Science and Artificial Intelligence Laboratory"],"affiliations":[{"raw_affiliation_string":"MIT Computer Science and Artificial Intelligence Laboratory","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071093940","display_name":"Joshua B. Tenenbaum","orcid":"https://orcid.org/0000-0002-1925-2035"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Joshua B. Tenenbaum","raw_affiliation_strings":["MIT Computer Science and Artificial Intelligence Laboratory"],"affiliations":[{"raw_affiliation_string":"MIT Computer Science and Artificial Intelligence Laboratory","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063238208","display_name":"Tom\u00e1s Lozano\u2010P\u00e9rez","orcid":"https://orcid.org/0000-0002-8657-2450"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Tom\u00e1s Lozano-P\u00e9rez","raw_affiliation_strings":["MIT Computer Science and Artificial Intelligence Laboratory"],"affiliations":[{"raw_affiliation_string":"MIT Computer Science and Artificial Intelligence Laboratory","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5012862284","display_name":"Leslie Pack Kaelbling","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Leslie Pack Kaelbling","raw_affiliation_strings":["MIT Computer Science and Artificial Intelligence Laboratory"],"affiliations":[{"raw_affiliation_string":"MIT Computer Science and Artificial Intelligence Laboratory","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5076794038"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.3893,"has_fulltext":false,"cited_by_count":24,"citation_normalized_percentile":{"value":0.90384615,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"4166","last_page":"4173"},"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":0.9958999752998352,"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"}},"topics":[{"id":"https://openalex.org/T10906","display_name":"AI-based Problem Solving and Planning","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"}},{"id":"https://openalex.org/T12072","display_name":"Machine Learning and Algorithms","score":0.9805999994277954,"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/T13050","display_name":"Oil and Gas Production Techniques","score":0.9503999948501587,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7669340372085571},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6345924139022827},{"id":"https://openalex.org/keywords/automated-planning-and-scheduling","display_name":"Automated planning and scheduling","score":0.5772526264190674},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.547099232673645},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.43287304043769836},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.358248233795166},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.33668088912963867},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.10768535733222961},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.0835466980934143}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7669340372085571},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6345924139022827},{"id":"https://openalex.org/C114073186","wikidata":"https://www.wikidata.org/wiki/Q2631895","display_name":"Automated planning and scheduling","level":2,"score":0.5772526264190674},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.547099232673645},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.43287304043769836},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.358248233795166},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.33668088912963867},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.10768535733222961},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0835466980934143},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros47612.2022.9981440","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981440","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.7699999809265137,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":86,"referenced_works":["https://openalex.org/W93173320","https://openalex.org/W1136193735","https://openalex.org/W1522301498","https://openalex.org/W1981627423","https://openalex.org/W2019310097","https://openalex.org/W2070683816","https://openalex.org/W2097083865","https://openalex.org/W2119521930","https://openalex.org/W2122054842","https://openalex.org/W2135639338","https://openalex.org/W2138494816","https://openalex.org/W2140135625","https://openalex.org/W2141841102","https://openalex.org/W2149390907","https://openalex.org/W2161414194","https://openalex.org/W2162227979","https://openalex.org/W2207352740","https://openalex.org/W2396715201","https://openalex.org/W2412154694","https://openalex.org/W2521075165","https://openalex.org/W2552391307","https://openalex.org/W2559857813","https://openalex.org/W2604726708","https://openalex.org/W2741534749","https://openalex.org/W2776202271","https://openalex.org/W2786122328","https://openalex.org/W2787066086","https://openalex.org/W2788882124","https://openalex.org/W2805516822","https://openalex.org/W2899455150","https://openalex.org/W2900860440","https://openalex.org/W2907729764","https://openalex.org/W2909064322","https://openalex.org/W2952915411","https://openalex.org/W2953432230","https://openalex.org/W2962730572","https://openalex.org/W2962764591","https://openalex.org/W2962872206","https://openalex.org/W2963112420","https://openalex.org/W2963285578","https://openalex.org/W2963709735","https://openalex.org/W2963777783","https://openalex.org/W2963960193","https://openalex.org/W2964004050","https://openalex.org/W2965413709","https://openalex.org/W2995298643","https://openalex.org/W3001865277","https://openalex.org/W3018946989","https://openalex.org/W3019127492","https://openalex.org/W3020831056","https://openalex.org/W3022566517","https://openalex.org/W3023380900","https://openalex.org/W3031205423","https://openalex.org/W3035115072","https://openalex.org/W3037476194","https://openalex.org/W3038822267","https://openalex.org/W3086207594","https://openalex.org/W3089355520","https://openalex.org/W3092663687","https://openalex.org/W3101355526","https://openalex.org/W3105542944","https://openalex.org/W3111389438","https://openalex.org/W3113212054","https://openalex.org/W3117551682","https://openalex.org/W3122543654","https://openalex.org/W3122690883","https://openalex.org/W3126498497","https://openalex.org/W3128894241","https://openalex.org/W3132438716","https://openalex.org/W3132557532","https://openalex.org/W3134487742","https://openalex.org/W3150384095","https://openalex.org/W3173991979","https://openalex.org/W3175128928","https://openalex.org/W3175487073","https://openalex.org/W3210184670","https://openalex.org/W4205130889","https://openalex.org/W4293566037","https://openalex.org/W4297941051","https://openalex.org/W6603745882","https://openalex.org/W6674383371","https://openalex.org/W6678212731","https://openalex.org/W6680716285","https://openalex.org/W6685562342","https://openalex.org/W6729508183","https://openalex.org/W6755440231"],"related_works":["https://openalex.org/W2961085424","https://openalex.org/W4224009465","https://openalex.org/W4306674287","https://openalex.org/W4286629047","https://openalex.org/W4205958290","https://openalex.org/W4384212932","https://openalex.org/W2548721895","https://openalex.org/W2373456246","https://openalex.org/W2912415823","https://openalex.org/W3196817267"],"abstract_inverted_index":{"In":[0,19],"robotic":[1,45,85],"domains,":[2],"learning":[3],"and":[4,15,48,56,96,111],"planning":[5,46,62,67,74,86,101],"are":[6,38],"complicated":[7],"by":[8],"continuous":[9,12,73],"state":[10],"spaces,":[11,14],"action":[13],"long":[16],"task":[17],"horizons.":[18],"this":[20],"work,":[21],"we":[22],"address":[23],"these":[24],"challenges":[25],"with":[26,43,75],"Neuro-Symbolic":[27],"Relational":[28],"Transition":[29],"Models":[30],"(NSRTs),":[31],"a":[32,60],"novel":[33],"class":[34],"of":[35],"models":[36,77],"that":[37,89,105],"data-efficient":[39],"to":[40,108],"learn,":[41],"compatible":[42],"powerful":[44],"methods,":[47],"generalizable":[49],"over":[50],"objects.":[51],"NSRTs":[52,90],"have":[53],"both":[54],"symbolic":[55,65],"neural":[57,76],"components,":[58],"enabling":[59],"bilevel":[61],"scheme":[63],"where":[64],"AI":[66],"in":[68,78,83,102],"an":[69,79],"outer":[70],"loop":[71],"guides":[72],"inner":[80],"loop.":[81],"Experiments":[82],"four":[84],"domains":[87],"show":[88],"can":[91],"be":[92],"learned":[93],"very":[94],"data-efficiently,":[95],"then":[97],"used":[98],"for":[99],"fast":[100],"new":[103],"tasks":[104],"require":[106],"up":[107],"60":[109],"actions":[110],"involve":[112],"many":[113],"more":[114],"objects":[115],"than":[116],"were":[117],"seen":[118],"during":[119],"training.":[120]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":3}],"updated_date":"2026-02-25T23:00:34.991745","created_date":"2025-10-10T00:00:00"}
