{"id":"https://openalex.org/W4405785183","doi":"https://doi.org/10.1109/iros58592.2024.10801853","title":"Recover: A Neuro-Symbolic Framework for Failure Detection and Recovery","display_name":"Recover: A Neuro-Symbolic Framework for Failure Detection and Recovery","publication_year":2024,"publication_date":"2024-10-14","ids":{"openalex":"https://openalex.org/W4405785183","doi":"https://doi.org/10.1109/iros58592.2024.10801853"},"language":"en","primary_location":{"id":"doi:10.1109/iros58592.2024.10801853","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10801853","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/A5027858626","display_name":"Cristina Cornelio","orcid":"https://orcid.org/0000-0001-5284-6487"},"institutions":[{"id":"https://openalex.org/I4210117523","display_name":"Samsung (United Kingdom)","ror":"https://ror.org/01w6gjq94","country_code":"GB","type":"company","lineage":["https://openalex.org/I2250650973","https://openalex.org/I4210117523"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Cristina Cornelio","raw_affiliation_strings":["Samsung AI,Cambridge,UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Samsung AI,Cambridge,UK","institution_ids":["https://openalex.org/I4210117523"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5076637369","display_name":"Mohammed Diab","orcid":"https://orcid.org/0000-0002-5743-5190"},"institutions":[{"id":"https://openalex.org/I897542642","display_name":"University of Plymouth","ror":"https://ror.org/008n7pv89","country_code":"GB","type":"education","lineage":["https://openalex.org/I897542642"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Mohammed Diab","raw_affiliation_strings":["University of Plymouth,UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Plymouth,UK","institution_ids":["https://openalex.org/I897542642"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.989,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.91808429,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"12435","last_page":"12442"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T14394","display_name":"Cognitive Science and Education Research","score":0.6478999853134155,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},"topics":[{"id":"https://openalex.org/T14394","display_name":"Cognitive Science and Education Research","score":0.6478999853134155,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6868762969970703},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.37361422181129456},{"id":"https://openalex.org/keywords/reliability-engineering","display_name":"Reliability engineering","score":0.3700791001319885},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.13017454743385315}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6868762969970703},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.37361422181129456},{"id":"https://openalex.org/C200601418","wikidata":"https://www.wikidata.org/wiki/Q2193887","display_name":"Reliability engineering","level":1,"score":0.3700791001319885},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.13017454743385315}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros58592.2024.10801853","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10801853","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W2294131806","https://openalex.org/W2749087070","https://openalex.org/W2989576969","https://openalex.org/W2997896361","https://openalex.org/W3099204253","https://openalex.org/W3176445421","https://openalex.org/W3189000042","https://openalex.org/W4388720459","https://openalex.org/W4389520334","https://openalex.org/W4390692489","https://openalex.org/W4391128534","https://openalex.org/W4393160747","https://openalex.org/W4394828156","https://openalex.org/W6747106673","https://openalex.org/W6777585808","https://openalex.org/W6809509765","https://openalex.org/W6809646742","https://openalex.org/W6810162553","https://openalex.org/W6810640255","https://openalex.org/W6838461927","https://openalex.org/W6846254642","https://openalex.org/W6846922846","https://openalex.org/W6849732303","https://openalex.org/W6850886341","https://openalex.org/W6852803092","https://openalex.org/W6853743997","https://openalex.org/W6854593375","https://openalex.org/W6855950928"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052"],"abstract_inverted_index":{"Recognizing":[0],"failures":[1,134],"during":[2],"task":[3,39],"execution":[4],"and":[5,41,53,69,76,93,139,148],"implementing":[6],"recovery":[7,91],"procedures":[8],"is":[9,163],"challenging":[10],"in":[11,55,109,135],"robotics.":[12],"Traditional":[13],"approaches":[14,31],"rely":[15],"on":[16,155],"the":[17,85,97,104,120,136,160],"availability":[18],"of":[19,26,87,106],"extensive":[20],"data":[21],"or":[22],"a":[23,62,110,150],"tight":[24],"set":[25],"constraints,":[27],"while":[28],"more":[29],"recent":[30],"leverage":[32],"large":[33],"language":[34],"models":[35],"(LLMs)":[36],"to":[37,83,89,95,102],"verify":[38],"steps":[40],"replan":[42],"accordingly.":[43],"However,":[44],"these":[45],"methods":[46],"often":[47],"operate":[48],"offline,":[49],"necessitating":[50],"scene":[51],"resets":[52],"incurring":[54],"high":[56],"costs.":[57,99],"This":[58],"paper":[59],"introduces":[60],"Recover,":[61],"neuro-symbolic":[63],"framework":[64],"for":[65,144],"online":[66],"failure":[67,146],"identification":[68],"recovery.":[70],"By":[71],"integrating":[72],"ontologies,":[73],"logical":[74,129],"rules,":[75],"LLM-based":[77],"planners,":[78],"Recover":[79,141],"exploits":[80],"symbolic":[81],"information":[82],"enhance":[84],"ability":[86],"LLMs":[88],"generate":[90],"plans":[92],"also":[94],"decrease":[96],"associated":[98],"In":[100],"order":[101],"demonstrate":[103],"capabilities":[105],"our":[107],"method":[108,152],"simulated":[111],"kitchen":[112],"environment,":[113],"we":[114],"introduce":[115],"OntoThor,":[116],"an":[117],"ontology":[118],"describing":[119],"AI2Thor":[121],"simulator":[122],"setting.":[123],"Empirical":[124],"evaluation":[125],"shows":[126],"that":[127,140],"OntoThor\u2019s":[128],"rules":[130],"accurately":[131],"detect":[132],"all":[133],"analyzed":[137],"tasks,":[138],"considerably":[142],"outperforms,":[143],"both":[145],"detection":[147],"recovery,":[149],"baseline":[151],"reliant":[153],"solely":[154],"LLMs.":[156],"Supplementary":[157],"material,":[158],"including":[159],"OntoThor":[161],"ontology,":[162],"available":[164],"at:":[165],"https://recover-ontothor.github.io.":[166]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":1}],"updated_date":"2025-12-22T23:10:17.713674","created_date":"2025-10-10T00:00:00"}
