Silver, Tom, Rohan Chitnis, Aidan Curtis, Joshua B. Tenenbaum, Tomás Lozano-Pérez, and Leslie Pack Kaelbling. “Planning With Learned Object Importance in Large Problem Instances Using Graph Neural Networks”. Proceedings of the AAAI Conference on Artificial Intelligence 35, no. 13 (May 18, 2021): 11962-11971. Accessed October 2, 2022. https://ojs.aaai.org/index.php/AAAI/article/view/17421.