{"id":"https://openalex.org/W3160479505","doi":"https://doi.org/10.1109/tro.2023.3294918","title":"Counterexample-Guided Repair for Symbolic-Geometric Action Abstractions","display_name":"Counterexample-Guided Repair for Symbolic-Geometric Action Abstractions","publication_year":2023,"publication_date":"2023-08-09","ids":{"openalex":"https://openalex.org/W3160479505","doi":"https://doi.org/10.1109/tro.2023.3294918","mag":"3160479505"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2023.3294918","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2023.3294918","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Transactions on Robotics","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/A5070481627","display_name":"Wil Thomason","orcid":"https://orcid.org/0000-0001-6200-9762"},"institutions":[{"id":"https://openalex.org/I74775410","display_name":"Rice University","ror":"https://ror.org/008zs3103","country_code":"US","type":"education","lineage":["https://openalex.org/I74775410"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Wil Thomason","raw_affiliation_strings":["Department of Computer Science, Rice University, Houston, TX, USA"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Rice University, Houston, TX, USA","institution_ids":["https://openalex.org/I74775410"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5020074157","display_name":"Hadas Kress\u2010Gazit","orcid":"https://orcid.org/0000-0002-7754-1011"},"institutions":[{"id":"https://openalex.org/I205783295","display_name":"Cornell University","ror":"https://ror.org/05bnh6r87","country_code":"US","type":"education","lineage":["https://openalex.org/I205783295"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hadas Kress-Gazit","raw_affiliation_strings":["Sibley School of Mechanical and Aerospace Engineering, Cornell University, Ithaca, NY, USA"],"affiliations":[{"raw_affiliation_string":"Sibley School of Mechanical and Aerospace Engineering, Cornell University, Ithaca, NY, USA","institution_ids":["https://openalex.org/I205783295"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5070481627"],"corresponding_institution_ids":["https://openalex.org/I74775410"],"apc_list":null,"apc_paid":null,"fwci":0.123,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.3525443,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"39","issue":"5","first_page":"4152","last_page":"4165"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9995999932289124,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9995999932289124,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9986000061035156,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9986000061035156,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/predicate-abstraction","display_name":"Predicate abstraction","score":0.8368926644325256},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7072052955627441},{"id":"https://openalex.org/keywords/abstraction","display_name":"Abstraction","score":0.687778890132904},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.5407732725143433},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5307555198669434},{"id":"https://openalex.org/keywords/predicate","display_name":"Predicate (mathematical logic)","score":0.5223561525344849},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5061597228050232},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.44071418046951294},{"id":"https://openalex.org/keywords/model-checking","display_name":"Model checking","score":0.4120238721370697},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.325090229511261}],"concepts":[{"id":"https://openalex.org/C2779907942","wikidata":"https://www.wikidata.org/wiki/Q7239630","display_name":"Predicate abstraction","level":3,"score":0.8368926644325256},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7072052955627441},{"id":"https://openalex.org/C124304363","wikidata":"https://www.wikidata.org/wiki/Q673661","display_name":"Abstraction","level":2,"score":0.687778890132904},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.5407732725143433},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5307555198669434},{"id":"https://openalex.org/C140146324","wikidata":"https://www.wikidata.org/wiki/Q1144319","display_name":"Predicate (mathematical logic)","level":2,"score":0.5223561525344849},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5061597228050232},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.44071418046951294},{"id":"https://openalex.org/C110251889","wikidata":"https://www.wikidata.org/wiki/Q1569697","display_name":"Model checking","level":2,"score":0.4120238721370697},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.325090229511261},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","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/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2023.3294918","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2023.3294918","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Transactions on Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7400000095367432,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[{"id":"https://openalex.org/G6093102107","display_name":null,"funder_award_id":"2127309","funder_id":"https://openalex.org/F4320335353","funder_display_name":"National Science Foundation of Sri Lanka"}],"funders":[{"id":"https://openalex.org/F4320306078","display_name":"U.S. Department of Defense","ror":"https://ror.org/0447fe631"},{"id":"https://openalex.org/F4320335353","display_name":"National Science Foundation of Sri Lanka","ror":"https://ror.org/010xaa060"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":65,"referenced_works":["https://openalex.org/W1480820690","https://openalex.org/W1486008782","https://openalex.org/W1494534478","https://openalex.org/W1506509683","https://openalex.org/W1536651105","https://openalex.org/W1600235415","https://openalex.org/W1793594870","https://openalex.org/W1852202999","https://openalex.org/W1964478285","https://openalex.org/W1980035368","https://openalex.org/W1987592584","https://openalex.org/W2015863039","https://openalex.org/W2018547649","https://openalex.org/W2042613327","https://openalex.org/W2057802165","https://openalex.org/W2075577325","https://openalex.org/W2106907982","https://openalex.org/W2110612452","https://openalex.org/W2127574686","https://openalex.org/W2131831090","https://openalex.org/W2132602063","https://openalex.org/W2135319191","https://openalex.org/W2135639338","https://openalex.org/W2141841102","https://openalex.org/W2158395308","https://openalex.org/W2296356821","https://openalex.org/W2300621294","https://openalex.org/W2337392266","https://openalex.org/W2403069916","https://openalex.org/W2407405831","https://openalex.org/W2468062401","https://openalex.org/W2498560248","https://openalex.org/W2735300570","https://openalex.org/W2787066086","https://openalex.org/W2907553835","https://openalex.org/W2909064322","https://openalex.org/W2963112420","https://openalex.org/W2963903510","https://openalex.org/W2998587882","https://openalex.org/W3001865277","https://openalex.org/W3025405458","https://openalex.org/W3035965352","https://openalex.org/W3038945966","https://openalex.org/W3040464380","https://openalex.org/W3086849158","https://openalex.org/W3099878876","https://openalex.org/W3103940950","https://openalex.org/W3150384095","https://openalex.org/W3154655773","https://openalex.org/W3155745252","https://openalex.org/W3191843641","https://openalex.org/W4213342125","https://openalex.org/W4234988641","https://openalex.org/W4301014524","https://openalex.org/W4320712055","https://openalex.org/W4362642416","https://openalex.org/W6628662732","https://openalex.org/W6639173921","https://openalex.org/W6675945767","https://openalex.org/W6683354071","https://openalex.org/W6713184877","https://openalex.org/W6755440231","https://openalex.org/W6777904697","https://openalex.org/W6800491053","https://openalex.org/W6849162281"],"related_works":["https://openalex.org/W2096561672","https://openalex.org/W278680301","https://openalex.org/W1531204343","https://openalex.org/W2522501807","https://openalex.org/W2348940122","https://openalex.org/W2114684060","https://openalex.org/W2120526551","https://openalex.org/W2149977550","https://openalex.org/W4232099822","https://openalex.org/W2144996318"],"abstract_inverted_index":{"Integrated":[0],"task":[1],"and":[2,20,44,78,107,125,159,188],"motion":[3],"planning":[4,15],"(TMP)":[5],"offers":[6],"a":[7,39,81,114,140,184],"promising":[8],"class":[9],"of":[10,31,49,54,133,139,186,192],"approaches":[11],"for":[12,41,101,164,178,196],"solving":[13],"robot":[14,32,50,56],"problems":[16],"with":[17],"intricate":[18],"symbolic":[19,106,119],"geometric":[21,108],"constraints.":[22],"However,":[23],"TMP":[24],"planners":[25],"rely":[26],"on":[27],"difficult-to-construct":[28],"abstract":[29],"models":[30],"actions.":[33,59],"In":[34,143],"this":[35,144],"article,":[36],"we":[37,87,146],"propose":[38],"method":[40],"automatically":[42],"constructing":[43],"continuously":[45],"improving":[46],"an":[47,96,161],"abstraction":[48,66,89,135,156,166,171],"actions":[51,182],"via":[52],"observations":[53,187],"the":[55,58,131,134,137,148,152,190,193],"performing":[57],"This":[60],"method,":[61],"called":[62],"<italic":[63,153],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[64,154],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">automatic":[65],"repair</i>":[67,157],",":[68],"allows":[69],"action":[70,176],"abstractions":[71,177],"to":[72,122,129,136],"be":[73],"initially":[74],"incorrect":[75],"or":[76],"incomplete":[77],"converge":[79],"toward":[80],"correct":[82],"model":[83,195],"over":[84,104,118],"time.":[85],"Here,":[86],"demonstrate":[88,169],"repair":[90,111,172],"using":[91],"constrained":[92],"polynomial":[93],"zonotopes":[94],"(CPZs),":[95],"expressive":[97],"nonconvex":[98],"set":[99],"representation":[100],"modeling":[102],"predicates":[103],"joint":[105],"state.":[109],"The":[110],"process":[112],"performs":[113],"hybrid":[115],"optimizing":[116],"search":[117],"edit":[120],"operations":[121],"predicate":[123,127,149,197],"formulae":[124],"continuous":[126],"parameters":[128],"improve":[130,174],"grounding":[132],"behavior":[138],"physical":[141],"robot.":[142],"work,":[145],"describe":[147],"model,":[150],"introduce":[151],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">symbolic-geometric":[155],"problem,":[158],"present":[160],"anytime":[162],"algorithm":[163],"automatic":[165],"repair.":[167],"We":[168],"that":[170],"can":[173],"realistic":[175],"common":[179],"mobile":[180],"manipulation":[181],"from":[183],"handful":[185],"discuss":[189],"tradeoffs":[191],"CPZ":[194],"representation.":[198]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}