Niu, Sufeng, Siheng Chen, Hanyu Guo, Colin Targonski, Melissa Smith, and Jelena Kovačević. 2018. “Generalized Value Iteration Networks:Life Beyond Lattices”. Proceedings of the AAAI Conference on Artificial Intelligence 32 (1). https://ojs.aaai.org/index.php/AAAI/article/view/12081.