Curtis, A., Silver, T., Tenenbaum, J. B., Lozano-PĂ©rez, T., & Kaelbling, L. (2022). Discovering State and Action Abstractions for Generalized Task and Motion Planning. Proceedings of the AAAI Conference on Artificial Intelligence, 36(5), 5377-5384. https://doi.org/10.1609/aaai.v36i5.20475