Kim, Sung-Kyun, Amanda Bouman, Gautam Salhotra, David D. Fan, Kyohei Otsu, Joel Burdick, and Ali-akbar Agha-mohammadi. 2021. “PLGRIM: Hierarchical Value Learning for Large-Scale Exploration in Unknown Environments”. Proceedings of the International Conference on Automated Planning and Scheduling 31 (1):652-62. https://doi.org/10.1609/icaps.v31i1.16014.