Silver, T., R. Chitnis, N. Kumar, W. McClinton, T. Lozano-Pérez, L. Kaelbling, and J. B. Tenenbaum. “Predicate Invention for Bilevel Planning”. Proceedings of the AAAI Conference on Artificial Intelligence, vol. 37, no. 10, June 2023, pp. 12120-9, doi:10.1609/aaai.v37i10.26429.