@InProceedings{LIS169,<br>title = {Foresight and Reconsideration in Hierarchical Planning and Execution},<br>author = {Martin Levihn and Leslie Pack Kaelbling and Tomas Lozano-Perez and Mike Stilman},<br>year = {2013},<br>url = {http://lis.csail.mit.edu/pubs/levihn-iros13.pdf},<br>note = {&lt;a href=&quot;http://lis.csail.mit.edu/bhpnNAMO&quot;&gt;movies&lt;/a&gt;},<br>booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems},<br>}