{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,20]],"date-time":"2026-01-20T03:47:34Z","timestamp":1768880854167,"version":"3.49.0"},"reference-count":38,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","issue":"2","license":[{"start":{"date-parts":[[2025,2,1]],"date-time":"2025-02-01T00:00:00Z","timestamp":1738368000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2025,2,1]],"date-time":"2025-02-01T00:00:00Z","timestamp":1738368000000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2025,2,1]],"date-time":"2025-02-01T00:00:00Z","timestamp":1738368000000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"funder":[{"name":"The Scientific and Technological Research Council of Turkey","award":["120E274"],"award-info":[{"award-number":["120E274"]}]},{"name":"Grant-in-Aid for Scientific Research","award":["JP23K24926"],"award-info":[{"award-number":["JP23K24926"]}]},{"DOI":"10.13039\/501100001863","name":"New Energy and Industrial Technology Development Organization","doi-asserted-by":"publisher","award":["JPMJCR17A4"],"award-info":[{"award-number":["JPMJCR17A4"]}],"id":[{"id":"10.13039\/501100001863","id-type":"DOI","asserted-by":"publisher"}]},{"name":"European Union through INVERSE Project","award":["101136067"],"award-info":[{"award-number":["101136067"]}]},{"name":"Boston Dynamics AI Institute"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Robot. Autom. Lett."],"published-print":{"date-parts":[[2025,2]]},"DOI":"10.1109\/lra.2025.3527338","type":"journal-article","created":{"date-parts":[[2025,1,8]],"date-time":"2025-01-08T20:34:06Z","timestamp":1736368446000},"page":"1968-1975","source":"Crossref","is-referenced-by-count":4,"title":["Symbolic Manipulation Planning With Discovered Object and Relational Predicates"],"prefix":"10.1109","volume":"10","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-1330-6781","authenticated-orcid":false,"given":"Alper","family":"Ahmetoglu","sequence":"first","affiliation":[{"name":"Department of Computer Science, Brown University, Providence, RI, USA"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-3051-6038","authenticated-orcid":false,"given":"Erhan","family":"Oztop","sequence":"additional","affiliation":[{"name":"Department of Computer Science, Ozyegin University, Istanbul, T&#x00FC;rkiye"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9597-2731","authenticated-orcid":false,"family":"Emre Ugur","sequence":"additional","affiliation":[{"name":"Department of Computer Engineering, Bogazici University, Istanbul, T&#x00FC;rkiye"}]}],"member":"263","reference":[{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1016\/j.cobeha.2018.11.005"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1609\/aaai.v28i1.9004"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1613\/jair.5575"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2015.7139553"},{"key":"ref5","article-title":"PDDL| The planning domain definition language","author":"Ghallab","year":"1998"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1613\/jair.1705"},{"issue":"3","key":"ref7","first-page":"57","article-title":"FF: The fast-forward planning system","volume":"22","author":"Hoffmann","year":"2001","journal-title":"AI Mag."},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1609\/aaai.v32i1.12077"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.24963\/ijcai.2020\/371"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1613\/jair.1.13768"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1613\/jair.1.13754"},{"key":"ref12","article-title":"Learning multi-object symbols for manipulation with attentive deep effect predictors","author":"Ahmetoglu","year":"2022"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2024.3350994"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2011.5979677"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1177\/1059712317726357"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1080\/01691864.2016.1164622"},{"key":"ref17","first-page":"4682","article-title":"Learning portable representations for high-level planning","volume-title":"Proc. Int. Conf. Mach. Learn.","author":"James","year":"2020"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1109\/HUMANOIDS.2015.7363477"},{"key":"ref19","article-title":"Autonomous learning of object-centric abstractions for high-level planning","volume-title":"Proc. Int. Conf. Learn. Representations","author":"James","year":"2022"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1109\/IROS51168.2021.9635941"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1109\/IROS47612.2022.9981440"},{"key":"ref22","first-page":"701","article-title":"Learning neuro-symbolic skills for bilevel planning","volume-title":"Proc. 6th Conf. Robot Learn.","author":"Silver","year":"2023"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1609\/aaai.v37i10.26429"},{"key":"ref24","first-page":"2070","article-title":"Learning efficient abstract planning models that choose what to predict","volume-title":"Proc. Conf. Robot Learn.","author":"Kumar","year":"2023"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1146\/annurev-control-091420-084139"},{"key":"ref26","article-title":"From reals to logic and back: Inventing symbolic vocabularies, actions and models for planning from raw data","author":"Shah","year":"2024"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA40945.2020.9196833"},{"key":"ref28","first-page":"1183","article-title":"Using deep learning to bootstrap abstractions for hierarchical robot planning","volume-title":"Proc. Int. Conf. Auton. Agents Multiagent Syst.","author":"Shah","year":"2022"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.48550\/ARXIV.1706.03762"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1145\/1390156.1390187"},{"key":"ref31","first-page":"11525","article-title":"Object-centric learning with slot attention","volume-title":"Proc. Adv. Neural Inf. Process. Syst.","volume":"33","author":"Locatello","year":"2020"},{"key":"ref32","article-title":"The concrete distribution: A continuous relaxation of discrete random variables","volume-title":"Proc. Int. Conf. Learn. Representations","author":"Maddison","year":"2017"},{"key":"ref33","article-title":"Adam: A method for stochastic optimization","volume-title":"Proc. Int. Conf. Learn. Representations","author":"Kingma","year":"2015"},{"key":"ref34","first-page":"901","article-title":"Weight normalization: A simple reparameterization to accelerate training of deep neural networks","volume-title":"Proc. Adv. Neural Inf. Process. Syst.","author":"Salimans","year":"2016"},{"key":"ref35","first-page":"268","article-title":"Pengi: An implementation of a theory of activity","volume-title":"Proc. 6th Nat. Conf. Artif. Intell.","author":"Agre","year":"1987"},{"key":"ref36","article-title":"Learning with deictic representation","author":"Finney","year":"2002"},{"key":"ref37","doi-asserted-by":"publisher","DOI":"10.1613\/jair.2113"},{"key":"ref38","first-page":"2297","article-title":"Zero-shot transfer with deictic object-oriented representation in reinforcement learning","volume-title":"Proc. Adv. Neural Inf. Process. Syst","author":"Marom","year":"2018"}],"container-title":["IEEE Robotics and Automation Letters"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx8\/7083369\/10805214\/10833759.pdf?arnumber=10833759","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,1,20]],"date-time":"2025-01-20T19:03:39Z","timestamp":1737399819000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/10833759\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,2]]},"references-count":38,"journal-issue":{"issue":"2"},"URL":"https:\/\/doi.org\/10.1109\/lra.2025.3527338","relation":{},"ISSN":["2377-3766","2377-3774"],"issn-type":[{"value":"2377-3766","type":"electronic"},{"value":"2377-3774","type":"electronic"}],"subject":[],"published":{"date-parts":[[2025,2]]}}}