Frasca, T., Oosterveld, B., Chita-Tegmark, M. and Scheutz, M. (2021) “Enabling Fast Instruction-Based Modification of Learned Robot Skills”, Proceedings of the AAAI Conference on Artificial Intelligence, 35(7), pp. 6075-6083. doi: 10.1609/aaai.v35i7.16757.