@Article{LIS247,<br>title = {Learning value functions with relational state representations for guiding task-and-motion planning},<br>author = {Beomjoon Kim, Luke Shimanuki},<br>year = {2019},<br>url = {http://lis.csail.mit.edu/pubs/kim-corl19.pdf},<br>journal = {Conference on Robot Learning},<br>}