@inproceedings{ijcai2005p84,
  title     = {Optimized Execution of Action Chains Using Learned Performance Models of Abstract Actions},
  author    = {Stulp, Freek and Beetz, Michael},
  booktitle = {Proceedings of the Nineteenth International Joint Conference on
               Artificial Intelligence, {IJCAI-05}},
  publisher = {International Joint Conferences on Artificial Intelligence},
  pages     = {1272--1279},
  year      = {2005},
  url       = {https://ijcai.org/proceedings/2005/84},
}