@InProceedings{LIS2,<br>title = {{Envelope-based Planning in Relational MDPs}},<br>author = {Natalia H. Gardiol and Leslie Pack Kaelbling},<br>year = {2004},<br>url = {http://people.csail.mit.edu/lpk/papers/nhg_lpk_nips03.pdf},<br>volume = {16},<br>booktitle = {NIPS},<br>}