{"id":"https://openalex.org/W7169898901","doi":"https://doi.org/10.48550/arxiv.2607.17861","title":"ConceptTree: Bringing Semantic Transparency to Black-Box Decision Making for Robotic Manipulation","display_name":"ConceptTree: Bringing Semantic Transparency to Black-Box Decision Making for Robotic Manipulation","publication_year":2026,"publication_date":"2026-07-20","ids":{"openalex":"https://openalex.org/W7169898901","doi":"https://doi.org/10.48550/arxiv.2607.17861"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2607.17861","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2607.17861","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2607.17861","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5114888514","display_name":"Yongyan Wen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wen, Yongyan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047059244","display_name":"Feifan Liu","orcid":"https://orcid.org/0000-0003-0881-6365"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liu, Feifan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102001250","display_name":"Jinyi Chen","orcid":"https://orcid.org/0000-0001-8765-6878"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chen, Jinyi","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5141298701","display_name":"Bo An","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"An, Bo","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5141301992","display_name":"Peng Liu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liu, Peng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5141301151","display_name":"Siyuan Li","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Siyuan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12026","display_name":"Explainable Artificial Intelligence (XAI)","score":0.3366999924182892,"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/T12026","display_name":"Explainable Artificial Intelligence (XAI)","score":0.3366999924182892,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.2079000025987625,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.15080000460147858,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/transparency","display_name":"Transparency (behavior)","score":0.8220999836921692},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5212000012397766},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.520799994468689},{"id":"https://openalex.org/keywords/selection","display_name":"Selection (genetic algorithm)","score":0.5156000256538391},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.41659998893737793},{"id":"https://openalex.org/keywords/space","display_name":"Space (punctuation)","score":0.39969998598098755},{"id":"https://openalex.org/keywords/decision-tree","display_name":"Decision tree","score":0.39480000734329224}],"concepts":[{"id":"https://openalex.org/C2780233690","wikidata":"https://www.wikidata.org/wiki/Q535347","display_name":"Transparency (behavior)","level":2,"score":0.8220999836921692},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7178000211715698},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5856000185012817},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5212000012397766},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.520799994468689},{"id":"https://openalex.org/C81917197","wikidata":"https://www.wikidata.org/wiki/Q628760","display_name":"Selection (genetic algorithm)","level":2,"score":0.5156000256538391},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.4390999972820282},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.43470001220703125},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.41659998893737793},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.39969998598098755},{"id":"https://openalex.org/C84525736","wikidata":"https://www.wikidata.org/wiki/Q831366","display_name":"Decision tree","level":2,"score":0.39480000734329224},{"id":"https://openalex.org/C2778112365","wikidata":"https://www.wikidata.org/wiki/Q3511065","display_name":"Sequence (biology)","level":2,"score":0.3176000118255615},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.3158000111579895},{"id":"https://openalex.org/C2780385302","wikidata":"https://www.wikidata.org/wiki/Q367158","display_name":"Protocol (science)","level":3,"score":0.31439998745918274},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.31290000677108765},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.30059999227523804},{"id":"https://openalex.org/C114073186","wikidata":"https://www.wikidata.org/wiki/Q2631895","display_name":"Automated planning and scheduling","level":2,"score":0.2637999951839447},{"id":"https://openalex.org/C17098449","wikidata":"https://www.wikidata.org/wiki/Q176814","display_name":"Partially observable Markov decision process","level":4,"score":0.26089999079704285},{"id":"https://openalex.org/C122308676","wikidata":"https://www.wikidata.org/wiki/Q1331926","display_name":"Decision-making","level":3,"score":0.2556000053882599}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2607.17861","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2607.17861","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2607.17861","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2607.17861","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.760357677936554,"id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Establishing":[0],"interpretable":[1],"decision-making":[2],"processes":[3],"in":[4,88,149],"long-horizon":[5,151],"robotic":[6,21,132],"manipulation":[7,22,53,133],"is":[8,96,110],"critical":[9],"for":[10],"enabling":[11,115,170],"reliable":[12],"human":[13],"oversight":[14],"and":[15,113,118],"intervention.":[16],"However,":[17],"existing":[18,145],"approaches":[19],"to":[20,32,98],"largely":[23],"treat":[24],"skill":[25,54],"selection":[26,55],"as":[27,56,64],"opaque":[28],"mappings":[29],"from":[30],"observations":[31],"actions,":[33],"offering":[34],"limited":[35],"transparency":[36],"into":[37],"how":[38],"decisions":[39],"are":[40],"formed.":[41],"In":[42],"this":[43],"work,":[44],"we":[45,154],"propose":[46],"ConceptTree,":[47],"a":[48,65,83,93,105,128],"framework":[49],"that":[50,109,141,160],"reframes":[51],"high-level":[52,62,100],"reasoning":[57],"over":[58,70,91],"human-interpretable":[59],"concepts,":[60,169],"representing":[61],"policies":[63],"sequence":[66],"of":[67,120,130,173],"concept-level":[68],"predicates":[69],"visual":[71,89],"observations.":[72],"Rather":[73],"than":[74],"relying":[75],"on":[76,127],"implicit":[77],"latent":[78],"representations,":[79],"our":[80,125,161],"method":[81],"learns":[82],"normalized":[84],"concept":[85],"space":[86],"grounded":[87],"inputs,":[90],"which":[92],"decision":[94,107,174],"tree":[95],"trained":[97],"predict":[99],"skills.":[101],"This":[102],"formulation":[103],"yields":[104],"transparent":[106],"process":[108],"both":[111],"traceable":[112],"intervenable,":[114],"direct":[116],"inspection":[117],"modification":[119],"policy":[121],"behavior.":[122],"We":[123],"evaluate":[124],"approach":[126],"set":[129],"real-world":[131],"tasks":[134],"with":[135],"increasing":[136],"complexity.":[137],"Experimental":[138],"results":[139],"show":[140],"ConceptTree":[142],"consistently":[143],"outperforms":[144],"concept-based":[146],"baselines,":[147],"particularly":[148],"complex,":[150],"scenarios.":[152],"Furthermore,":[153],"provide":[155],"qualitative":[156],"case":[157],"studies":[158],"showing":[159],"model":[162],"supports":[163],"fine-grained":[164],"intervention":[165],"by":[166],"modifying":[167],"individual":[168],"targeted":[171],"correction":[172],"errors":[175],"without":[176],"retraining.":[177]},"counts_by_year":[],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2026-07-22T00:00:00"}