Hazra R, Zuidberg Dos Martires P, De Raedt L. SayCanPay: Heuristic Planning with Large Language Models Using Learnable Domain Knowledge. AAAI [Internet]. 2024 Mar. 24 [cited 2026 May 25];38(18):20123-3. Available from: https://ojs.aaai.org/index.php/AAAI/article/view/29991