Keren, Sarah, Gerard Canal, and Michael Cashmore. “Task-Aware Waypoint Sampling for Robotic Planning”. Proceedings of the International Conference on Automated Planning and Scheduling 31, no. 1 (May 17, 2021): 643–651. Accessed May 16, 2026. https://ojs.aaai.org/index.php/ICAPS/article/view/16013.