Konidaris, George, Leslie Kaelbling, and Tomas Lozano-Perez. “Constructing Symbolic Representations for High-Level Planning”. Proceedings of the AAAI Conference on Artificial Intelligence 28, no. 1 (June 21, 2014). Accessed August 27, 2024. https://ojs.aaai.org/index.php/AAAI/article/view/9004.