Ivanov, Alexander, Akhil Bagaria, and George Konidaris. “Discovering Options That Minimize Average Planning Time”. Proceedings of the AAAI Conference on Artificial Intelligence 39, no. 17 (April 11, 2025): 17573–17581. Accessed May 21, 2026. https://ojs.aaai.org/index.php/AAAI/article/view/33932.