{"id":"https://openalex.org/W4401990649","doi":"https://doi.org/10.1109/lra.2024.3451395","title":"Clio: Real-Time Task-Driven Open-Set 3D Scene Graphs","display_name":"Clio: Real-Time Task-Driven Open-Set 3D Scene Graphs","publication_year":2024,"publication_date":"2024-08-29","ids":{"openalex":"https://openalex.org/W4401990649","doi":"https://doi.org/10.1109/lra.2024.3451395"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3451395","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3451395","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hdl.handle.net/1721.1/157072","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5046469848","display_name":"Dominic Maggio","orcid":"https://orcid.org/0009-0009-9458-2665"},"institutions":[{"id":"https://openalex.org/I4210143601","display_name":"Decision Systems (United States)","ror":"https://ror.org/0434dpa13","country_code":"US","type":"company","lineage":["https://openalex.org/I4210143601"]},{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dominic Maggio","raw_affiliation_strings":["Laboratory for Information &amp; Decision Systems, Massachusetts Institute of Technology Cambridge, Cambridge, MA, USA"],"raw_orcid":"https://orcid.org/0009-0009-9458-2665","affiliations":[{"raw_affiliation_string":"Laboratory for Information &amp; Decision Systems, Massachusetts Institute of Technology Cambridge, Cambridge, MA, USA","institution_ids":["https://openalex.org/I4210143601","https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082750695","display_name":"Yun Chang","orcid":"https://orcid.org/0000-0002-2829-5256"},"institutions":[{"id":"https://openalex.org/I4210143601","display_name":"Decision Systems (United States)","ror":"https://ror.org/0434dpa13","country_code":"US","type":"company","lineage":["https://openalex.org/I4210143601"]},{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yun Chang","raw_affiliation_strings":["Laboratory for Information &amp; Decision Systems, Massachusetts Institute of Technology Cambridge, Cambridge, MA, USA"],"raw_orcid":"https://orcid.org/0000-0002-2829-5256","affiliations":[{"raw_affiliation_string":"Laboratory for Information &amp; Decision Systems, Massachusetts Institute of Technology Cambridge, Cambridge, MA, USA","institution_ids":["https://openalex.org/I4210143601","https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043068916","display_name":"Nathan Hughes","orcid":"https://orcid.org/0000-0002-1201-7032"},"institutions":[{"id":"https://openalex.org/I4210143601","display_name":"Decision Systems (United States)","ror":"https://ror.org/0434dpa13","country_code":"US","type":"company","lineage":["https://openalex.org/I4210143601"]},{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nathan Hughes","raw_affiliation_strings":["Laboratory for Information &amp; Decision Systems, Massachusetts Institute of Technology Cambridge, Cambridge, MA, USA"],"raw_orcid":"https://orcid.org/0000-0002-1201-7032","affiliations":[{"raw_affiliation_string":"Laboratory for Information &amp; Decision Systems, Massachusetts Institute of Technology Cambridge, Cambridge, MA, USA","institution_ids":["https://openalex.org/I4210143601","https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114216232","display_name":"Matthew Trang","orcid":null},"institutions":[{"id":"https://openalex.org/I4210122954","display_name":"MIT Lincoln Laboratory","ror":"https://ror.org/022z6jk58","country_code":"US","type":"facility","lineage":["https://openalex.org/I4210122954","https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Matthew Trang","raw_affiliation_strings":["MIT Lincoln Laboratory, Lexington, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"MIT Lincoln Laboratory, Lexington, MA, USA","institution_ids":["https://openalex.org/I4210122954"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5106977779","display_name":"Dan Griffith","orcid":null},"institutions":[{"id":"https://openalex.org/I4210122954","display_name":"MIT Lincoln Laboratory","ror":"https://ror.org/022z6jk58","country_code":"US","type":"facility","lineage":["https://openalex.org/I4210122954","https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dan Griffith","raw_affiliation_strings":["MIT Lincoln Laboratory, Lexington, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"MIT Lincoln Laboratory, Lexington, MA, USA","institution_ids":["https://openalex.org/I4210122954"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111181165","display_name":"Carlyn Dougherty","orcid":null},"institutions":[{"id":"https://openalex.org/I4210122954","display_name":"MIT Lincoln Laboratory","ror":"https://ror.org/022z6jk58","country_code":"US","type":"facility","lineage":["https://openalex.org/I4210122954","https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Carlyn Dougherty","raw_affiliation_strings":["MIT Lincoln Laboratory, Lexington, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"MIT Lincoln Laboratory, Lexington, MA, USA","institution_ids":["https://openalex.org/I4210122954"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079200757","display_name":"Eric Cristofalo","orcid":"https://orcid.org/0000-0003-1712-4600"},"institutions":[{"id":"https://openalex.org/I4210122954","display_name":"MIT Lincoln Laboratory","ror":"https://ror.org/022z6jk58","country_code":"US","type":"facility","lineage":["https://openalex.org/I4210122954","https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Eric Cristofalo","raw_affiliation_strings":["MIT Lincoln Laboratory, Lexington, MA, USA"],"raw_orcid":"https://orcid.org/0000-0003-1712-4600","affiliations":[{"raw_affiliation_string":"MIT Lincoln Laboratory, Lexington, MA, USA","institution_ids":["https://openalex.org/I4210122954"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091653340","display_name":"Lukas Schmid","orcid":"https://orcid.org/0000-0002-3961-8145"},"institutions":[{"id":"https://openalex.org/I4210143601","display_name":"Decision Systems (United States)","ror":"https://ror.org/0434dpa13","country_code":"US","type":"company","lineage":["https://openalex.org/I4210143601"]},{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Lukas Schmid","raw_affiliation_strings":["Laboratory for Information &amp; Decision Systems, Massachusetts Institute of Technology Cambridge, Cambridge, MA, USA"],"raw_orcid":"https://orcid.org/0000-0002-3961-8145","affiliations":[{"raw_affiliation_string":"Laboratory for Information &amp; Decision Systems, Massachusetts Institute of Technology Cambridge, Cambridge, MA, USA","institution_ids":["https://openalex.org/I4210143601","https://openalex.org/I63966007"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5042157108","display_name":"Luca Carlone","orcid":null},"institutions":[{"id":"https://openalex.org/I4210143601","display_name":"Decision Systems (United States)","ror":"https://ror.org/0434dpa13","country_code":"US","type":"company","lineage":["https://openalex.org/I4210143601"]},{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Luca Carlone","raw_affiliation_strings":["Laboratory for Information &amp; Decision Systems, Massachusetts Institute of Technology Cambridge, Cambridge, MA, USA"],"raw_orcid":"https://orcid.org/0000-0003-1884-5397","affiliations":[{"raw_affiliation_string":"Laboratory for Information &amp; Decision Systems, Massachusetts Institute of Technology Cambridge, Cambridge, MA, USA","institution_ids":["https://openalex.org/I4210143601","https://openalex.org/I63966007"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":2495,"currency":"USD","value_usd":2495},"apc_paid":null,"fwci":38.0716,"has_fulltext":false,"cited_by_count":44,"citation_normalized_percentile":{"value":0.99768458,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":"9","issue":"10","first_page":"8921","last_page":"8928"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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":0.9973999857902527,"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"}},{"id":"https://openalex.org/T10719","display_name":"3D Shape Modeling and Analysis","score":0.9970999956130981,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"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/task","display_name":"Task (project management)","score":0.6439870595932007},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6214785575866699},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5655356645584106},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.38028642535209656},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3698776960372925},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.32642364501953125},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.15347528457641602},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.10894390940666199}],"concepts":[{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6439870595932007},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6214785575866699},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5655356645584106},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.38028642535209656},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3698776960372925},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.32642364501953125},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.15347528457641602},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.10894390940666199},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2024.3451395","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3451395","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:dspace.mit.edu:1721.1/157072","is_oa":true,"landing_page_url":"https://hdl.handle.net/1721.1/157072","pdf_url":null,"source":{"id":"https://openalex.org/S4306400425","display_name":"DSpace@MIT (Massachusetts Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I63966007","host_organization_name":"Massachusetts Institute of Technology","host_organization_lineage":["https://openalex.org/I63966007"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-sa","license_id":"https://openalex.org/licenses/cc-by-nc-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"MIT News office","raw_type":"Article"}],"best_oa_location":{"id":"pmh:oai:dspace.mit.edu:1721.1/157072","is_oa":true,"landing_page_url":"https://hdl.handle.net/1721.1/157072","pdf_url":null,"source":{"id":"https://openalex.org/S4306400425","display_name":"DSpace@MIT (Massachusetts Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I63966007","host_organization_name":"Massachusetts Institute of Technology","host_organization_lineage":["https://openalex.org/I63966007"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-sa","license_id":"https://openalex.org/licenses/cc-by-nc-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"MIT News office","raw_type":"Article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2904805376","display_name":"Robust Robotic Scene Understanding  in Complex, Changing Environments using 3D Dynamic Scene Graphs","funder_award_id":"214489","funder_id":"https://openalex.org/F4320320924","funder_display_name":"Schweizerischer Nationalfonds zur F\u00f6rderung der Wissenschaftlichen Forschung"},{"id":"https://openalex.org/G4109425323","display_name":null,"funder_award_id":"2141064","funder_id":"https://openalex.org/F4562087700","funder_display_name":"National Science Foundation Graduate Research Fellowship Program"}],"funders":[{"id":"https://openalex.org/F4320320924","display_name":"Schweizerischer Nationalfonds zur F\u00f6rderung der Wissenschaftlichen Forschung","ror":"https://ror.org/00yjd3n13"},{"id":"https://openalex.org/F4562087700","display_name":"National Science Foundation Graduate Research Fellowship Program","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":69,"referenced_works":["https://openalex.org/W1964970091","https://openalex.org/W2133455944","https://openalex.org/W2149095485","https://openalex.org/W2461937780","https://openalex.org/W2949830259","https://openalex.org/W2979170133","https://openalex.org/W2990129662","https://openalex.org/W3039925688","https://openalex.org/W3124420883","https://openalex.org/W3132903969","https://openalex.org/W3183042936","https://openalex.org/W4200150166","https://openalex.org/W4283332944","https://openalex.org/W4292432849","https://openalex.org/W4312815172","https://openalex.org/W4313026212","https://openalex.org/W4379924972","https://openalex.org/W4383097515","https://openalex.org/W4383108296","https://openalex.org/W4385318467","https://openalex.org/W4385431115","https://openalex.org/W4386065742","https://openalex.org/W4386075882","https://openalex.org/W4387415175","https://openalex.org/W4389665646","https://openalex.org/W4390190498","https://openalex.org/W4390438191","https://openalex.org/W4390872744","https://openalex.org/W4390872897","https://openalex.org/W4390873468","https://openalex.org/W4390874575","https://openalex.org/W4391743427","https://openalex.org/W4399563600","https://openalex.org/W4401414715","https://openalex.org/W4401416305","https://openalex.org/W4401417460","https://openalex.org/W4401990649","https://openalex.org/W4402353983","https://openalex.org/W4402354022","https://openalex.org/W4402890475","https://openalex.org/W4403889366","https://openalex.org/W4404612908","https://openalex.org/W6631843149","https://openalex.org/W6637108112","https://openalex.org/W6675471587","https://openalex.org/W6698108618","https://openalex.org/W6764040762","https://openalex.org/W6791353385","https://openalex.org/W6811433417","https://openalex.org/W6841082114","https://openalex.org/W6850787431","https://openalex.org/W6851592950","https://openalex.org/W6851800889","https://openalex.org/W6853089298","https://openalex.org/W6853219587","https://openalex.org/W6854061876","https://openalex.org/W6855158220","https://openalex.org/W6855425132","https://openalex.org/W6857009137","https://openalex.org/W6858216016","https://openalex.org/W6859169318","https://openalex.org/W6859202844","https://openalex.org/W6859879655","https://openalex.org/W6859907885","https://openalex.org/W6860325043","https://openalex.org/W6860561321","https://openalex.org/W6860571479","https://openalex.org/W6860761053","https://openalex.org/W6866253995"],"related_works":["https://openalex.org/W2772917594","https://openalex.org/W2036807459","https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398"],"abstract_inverted_index":{"Modern":[0],"tools":[1],"for":[2,17,61,67,91,179],"class-agnostic":[3],"image":[4],"segmentation":[5],"(e.g.,":[6,12],"SegmentAnything)":[7],"and":[8,20,46,128,134,139,201,229],"open-set":[9,252],"semantic":[10,34,48,69,270],"understanding":[11,183],"CLIP)":[13],"provide":[14],"unprecedented":[15],"opportunities":[16],"robot":[18,72,118],"perception":[19],"mapping.":[21],"While":[22],"traditional":[23],"closed-set":[24],"metric-semantic":[25],"maps":[26,40],"were":[27],"restricted":[28],"to":[29,74,110,130,142,150,170,191,207,268],"tens":[30],"or":[31],"hundreds":[32],"of":[33,44,86,106,123,137,225,250,261],"classes,":[35],"we":[36,94],"can":[37,159],"now":[38],"build":[39],"with":[41,53],"a":[42,54,84,98,121,214,220],"plethora":[43],"objects":[45,63,138,200],"countless":[47],"variations.":[49],"This":[50],"leaves":[51],"us":[52],"fundamental":[55],"question:what":[56],"is":[57,100,109,119,148,176,189,206,237],"the":[58,62,68,71,117,132,135,152,196,226,259,266],"right":[59],"granularity":[60,87,133],"(and,":[64],"more":[65],"generally,":[66],"concepts)":[70],"has":[73,129],"include":[75],"in":[76,125,144,195],"its":[77,145],"map":[78,146,267],"representation?While":[79],"related":[80],"work":[81],"implicitly":[82],"chooses":[83],"level":[85],"by":[88,264],"tuning":[89],"thresholds":[90],"object":[92],"detection,":[93],"argue":[95],"that":[96,147,156,188,218,243],"such":[97],"choice":[99],"intrinsically":[101],"task-dependent.":[102],"The":[103,173,203],"first":[104],"contribution":[105,175,205,236],"this":[107,157],"paper":[108],"propose":[111],"atask-driven":[112],"3D":[113,181,193,222,253],"scene":[114,140,182,223,254],"understandingproblem,":[115],"where":[116],"given":[120],"list":[122],"tasks":[124],"natural":[126],"language,":[127],"select":[131],"subset":[136],"structure":[141],"retain":[143],"sufficient":[149],"complete":[151],"tasks.":[153],"We":[154],"show":[155],"problem":[158],"be":[160],"naturally":[161],"formulated":[162],"using":[163,230],"theInformation":[164],"Bottleneck(IB),":[165],"an":[166,177,238],"established":[167],"information-theoretic":[168],"framework":[169],"discuss":[171],"task-relevance.":[172],"second":[174],"algorithm":[178,212],"task-driven":[180,210],"based":[184],"on":[185],"anAgglomerative":[186],"IBapproach,":[187],"able":[190],"cluster":[192],"primitives":[194],"environment":[197,227],"into":[198,213],"task-relevant":[199],"regions.":[202],"third":[204],"integrate":[208],"our":[209],"clustering":[211],"real-time":[215,248],"pipeline,":[216],"namedClio,":[217],"constructs":[219],"hierarchical":[221],"graph":[224],"online":[228],"only":[231,246],"onboard":[232],"compute.":[233],"Our":[234],"final":[235],"extensive":[239],"experimental":[240],"campaign":[241],"showing":[242],"Clio":[244],"not":[245],"allows":[247],"construction":[249],"compact":[251],"graphs,":[255],"but":[256],"also":[257],"improves":[258],"accuracy":[260],"task":[262],"execution":[263],"limiting":[265],"relevant":[269],"concepts.":[271]},"counts_by_year":[{"year":2026,"cited_by_count":19},{"year":2025,"cited_by_count":21},{"year":2024,"cited_by_count":4}],"updated_date":"2026-08-28T12:50:07.497085","created_date":"2025-10-10T00:00:00"}
