@Article{LIS5,
title = {From Skills to Symbols: Learning Symbolic Representations for Abstract High-Level Planning},
author = {Konidaris, George and Kaelbling, Leslie Pack and Lozano-Perez, Tomas},
year = {2018},
url = {http://lis.csail.mit.edu/pubs/konidaris-jair18.pdf},
journal = {Journal of Artificial Intelligence Research},
volume = {61},
pages = {215--289},
}