@InProceedings{LIS101,<br>title = {Predicting Partial Paths from Planning Problem Parameters},<br>author = {Sarah Finney and Leslie Pack Kaelbling and TomasLozano-Perez},<br>year = {2007},<br>url = {http://people.csail.mit.edu/lpk/papers/em_alg_small.pdf},<br>booktitle = {Robotics Science and Systems},<br>}