{"id":"https://openalex.org/W4406171737","doi":"https://doi.org/10.1109/lra.2025.3527338","title":"Symbolic Manipulation Planning With Discovered Object and Relational Predicates","display_name":"Symbolic Manipulation Planning With Discovered Object and Relational Predicates","publication_year":2025,"publication_date":"2025-01-08","ids":{"openalex":"https://openalex.org/W4406171737","doi":"https://doi.org/10.1109/lra.2025.3527338"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2025.3527338","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3527338","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5083430995","display_name":"Alper Ahmeto\u011flu","orcid":"https://orcid.org/0000-0003-1330-6781"},"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"]},{"id":"https://openalex.org/I27804330","display_name":"Brown University","ror":"https://ror.org/05gq02987","country_code":"US","type":"education","lineage":["https://openalex.org/I27804330"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Alper Ahmetoglu","raw_affiliation_strings":["Department of Computer Science, Brown University, Providence, RI, USA","Department of Computer Science, Brown University, USA"],"raw_orcid":"https://orcid.org/0000-0003-1330-6781","affiliations":[{"raw_affiliation_string":"Department of Computer Science, Brown University, Providence, RI, USA","institution_ids":["https://openalex.org/I27804330"]},{"raw_affiliation_string":"Department of Computer Science, Brown University, USA","institution_ids":["https://openalex.org/I175594653"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018729334","display_name":"Erhan \u00d6ztop","orcid":"https://orcid.org/0000-0002-3051-6038"},"institutions":[{"id":"https://openalex.org/I44925452","display_name":"\u00d6zye\u011fin University","ror":"https://ror.org/01jjhfr75","country_code":"TR","type":"education","lineage":["https://openalex.org/I44925452"]},{"id":"https://openalex.org/I98285908","display_name":"The University of Osaka","ror":"https://ror.org/035t8zc32","country_code":"JP","type":"education","lineage":["https://openalex.org/I98285908"]}],"countries":["JP","TR"],"is_corresponding":false,"raw_author_name":"Erhan Oztop","raw_affiliation_strings":["Department of Computer Science, Ozyegin University, Istanbul, Türkiye","Department of Computer Science, Ozyegin University, Japan","OTRI, SISReC, Osaka University, Japan"],"raw_orcid":"https://orcid.org/0000-0002-3051-6038","affiliations":[{"raw_affiliation_string":"Department of Computer Science, Ozyegin University, Istanbul, Türkiye","institution_ids":["https://openalex.org/I44925452"]},{"raw_affiliation_string":"Department of Computer Science, Ozyegin University, Japan","institution_ids":[]},{"raw_affiliation_string":"OTRI, SISReC, Osaka University, Japan","institution_ids":["https://openalex.org/I98285908"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5048165304","display_name":"Emre U\u011fur","orcid":"https://orcid.org/0000-0001-9597-2731"},"institutions":[{"id":"https://openalex.org/I4405392","display_name":"Bo\u011fazi\u00e7i University","ror":"https://ror.org/03z9tma90","country_code":"TR","type":"education","lineage":["https://openalex.org/I4405392"]}],"countries":["TR"],"is_corresponding":false,"raw_author_name":"Emre Ugur","raw_affiliation_strings":["Department of Computer Engineering, Bogazici University, Istanbul, Türkiye","Department of Computer Engineering, Bogazici University, Turkey"],"raw_orcid":"https://orcid.org/0000-0001-9597-2731","affiliations":[{"raw_affiliation_string":"Department of Computer Engineering, Bogazici University, Istanbul, Türkiye","institution_ids":["https://openalex.org/I4405392"]},{"raw_affiliation_string":"Department of Computer Engineering, Bogazici University, Turkey","institution_ids":["https://openalex.org/I4405392"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5083430995"],"corresponding_institution_ids":["https://openalex.org/I175594653","https://openalex.org/I27804330"],"apc_list":null,"apc_paid":null,"fwci":8.693,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.96857749,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":98},"biblio":{"volume":"10","issue":"2","first_page":"1968","last_page":"1975"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10181","display_name":"Natural Language Processing Techniques","score":0.9732000231742859,"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/T10181","display_name":"Natural Language Processing Techniques","score":0.9732000231742859,"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":0.9732000231742859,"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/T10215","display_name":"Semantic Web and Ontologies","score":0.9596999883651733,"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":0.6321779489517212},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5270350575447083},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.3875325620174408},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.38186970353126526},{"id":"https://openalex.org/keywords/natural-language-processing","display_name":"Natural language processing","score":0.37347227334976196},{"id":"https://openalex.org/keywords/cognitive-science","display_name":"Cognitive science","score":0.3353261947631836},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.3276151716709137}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6321779489517212},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5270350575447083},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.3875325620174408},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.38186970353126526},{"id":"https://openalex.org/C204321447","wikidata":"https://www.wikidata.org/wiki/Q30642","display_name":"Natural language processing","level":1,"score":0.37347227334976196},{"id":"https://openalex.org/C188147891","wikidata":"https://www.wikidata.org/wiki/Q147638","display_name":"Cognitive science","level":1,"score":0.3353261947631836},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.3276151716709137}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2025.3527338","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3527338","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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:eresearch.ozyegin.edu.tr:10679/10898","is_oa":false,"landing_page_url":"https://hdl.handle.net/10679/10898","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.4099999964237213,"display_name":"Reduced inequalities","id":"https://metadata.un.org/sdg/10"}],"awards":[{"id":"https://openalex.org/G1290323533","display_name":null,"funder_award_id":"JPMJCR17A4","funder_id":"https://openalex.org/F4320321034","funder_display_name":"New Energy and Industrial Technology Development Organization"}],"funders":[{"id":"https://openalex.org/F4320321034","display_name":"New Energy and Industrial Technology Development Organization","ror":"https://ror.org/0055k7a87"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W1506047933","https://openalex.org/W2101355568","https://openalex.org/W2149390907","https://openalex.org/W2161414194","https://openalex.org/W2166776397","https://openalex.org/W2202410222","https://openalex.org/W2203521679","https://openalex.org/W2220867547","https://openalex.org/W2754217830","https://openalex.org/W2787066086","https://openalex.org/W2926786214","https://openalex.org/W2964004050","https://openalex.org/W3035259124","https://openalex.org/W3090647410","https://openalex.org/W3128894241","https://openalex.org/W3167674515","https://openalex.org/W3174309074","https://openalex.org/W4205130889","https://openalex.org/W4308299830","https://openalex.org/W4382202844","https://openalex.org/W4385245566","https://openalex.org/W4390659398","https://openalex.org/W6608062509","https://openalex.org/W6631190155","https://openalex.org/W6634741514","https://openalex.org/W6674383371","https://openalex.org/W6695676441","https://openalex.org/W6730091202","https://openalex.org/W6754752550","https://openalex.org/W6762722231","https://openalex.org/W6779809370","https://openalex.org/W6790310311","https://openalex.org/W6809904982","https://openalex.org/W6838586813","https://openalex.org/W6841527476","https://openalex.org/W6841547672","https://openalex.org/W6861718569"],"related_works":["https://openalex.org/W2737719445","https://openalex.org/W2898210368","https://openalex.org/W4239098401","https://openalex.org/W2382480268","https://openalex.org/W1976518449","https://openalex.org/W2732837990","https://openalex.org/W4231937131","https://openalex.org/W3188962172","https://openalex.org/W2363366881","https://openalex.org/W3204019825"],"abstract_inverted_index":{"Discovering":[0],"the":[1,69,89,110,162,174],"symbols":[2,33,60,167],"and":[3,20,40,58,68,82,107,120,157],"rules":[4,54,75],"that":[5,52,61,85,109,142,159],"can":[6,112],"be":[7,135],"used":[8],"in":[9,104,128],"long-horizon":[10],"planning":[11,41,160,170],"from":[12,34],"a":[13,25,50,114,139],"robot's":[14],"unsupervised":[15],"exploration":[16],"of":[17,66,88,92,117],"its":[18],"environment":[19],"continuous":[21],"sensorimotor":[22],"experience":[23],"is":[24],"challenging":[26],"task.":[27],"The":[28],"previous":[29],"studies":[30],"proposed":[31],"learning":[32,155],"single":[35],"or":[36],"paired":[37],"object":[38,57,126],"interactions":[39],"with":[42,55,101,138,152,161],"these":[43],"symbols.":[44],"In":[45],"this":[46],"work,":[47],"we":[48],"propose":[49],"system":[51,100,111],"learns":[53],"discovered":[56],"relational":[59,166],"encode":[62],"an":[63],"arbitrary":[64,90],"number":[65,91],"objects":[67,93,103],"relations":[70],"between":[71],"them,":[72],"converts":[73],"those":[74],"to":[76,94,173],"Planning":[77],"Domain":[78],"Description":[79],"Language":[80],"(PDDL),":[81],"generates":[83],"plans":[84],"involve":[86],"affordances":[87],"achieve":[95],"tasks.":[96],"We":[97,147],"validated":[98],"our":[99,150],"box-shaped":[102],"different":[105,129],"sizes":[106],"showed":[108,158],"develop":[113],"symbolic":[115],"knowledge":[116],"pick-up,":[118],"carry,":[119],"place":[121],"operations,":[122],"taking":[123],"into":[124],"account":[125],"compounds":[127],"configurations,":[130],"such":[131],"as":[132],"boxes":[133],"would":[134],"carried":[136],"together":[137],"larger":[140],"box":[141],"they":[143],"are":[144],"placed":[145],"on.":[146],"also":[148],"compared":[149,172],"method":[151],"other":[153],"symbol":[154],"methods":[156],"operators":[163],"defined":[164],"over":[165],"gives":[168],"better":[169],"performance":[171],"baselines.":[175]},"counts_by_year":[{"year":2025,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}