Patra, S., J. Mason, A. Kumar, M. Ghallab, P. Traverso, and D. Nau. “Integrating Acting, Planning, and Learning in Hierarchical Operational Models”. Proceedings of the International Conference on Automated Planning and Scheduling, vol. 30, no. 1, June 2020, pp. 478-87, doi:10.1609/icaps.v30i1.6743.