@InProceedings{LIS177,<br>title = {Optimization in the Now: Dynamic Peephole Optimization for Hierarchical Planning},<br>author = {Dylan Hadfield-Menell and Leslie Pack Kaelbling and Tomas Lozano-Perez},<br>year = {2013},<br>url = {http://lis.csail.mit.edu/pubs/tlp/ICRA13_1790_FI.pdf},<br>booktitle = {IEEE Conference on Robotics and Automation (ICRA)},<br>}