Krause, Evan, Paul Schermerhorn, and Matthias Scheutz. “Crossing Boundaries: Multi-Level Introspection in a Complex Robotic Architecture for Automatic Performance Improvements”. Proceedings of the AAAI Conference on Artificial Intelligence 26, no. 1 (September 20, 2021): 214-220. Accessed April 28, 2024. https://ojs.aaai.org/index.php/AAAI/article/view/8156.