# Predicate Invention for Bilevel Planning

> Research article (Proceedings of the AAAI Conference on Artificial Intelligence, 2023) · cited 15× · AI/ML

**Wikidata**: [openalex:W4382202844](https://www.wikidata.org/wiki/openalex:W4382202844)  
**Source**: https://4ort.xyz/entity/predicate-invention-for-bilevel-planning