@Article{LIS5,
title = {Robot Learning from Demonstration by Constructing Skill Trees},
author = {G.D. Konidaris and S.R. Kuindersma and R.A. Grupen and A.G. Barto},
year = {2012},
url = {http://ijr.sagepub.com/content/31/3/360},
journal = {International Journal of Robotics Research},
volume = {31},
number = {3},
pages = {360-375},
month = {March},
}