@inproceedings{ijcai2009p198,
  title     = {Autonomously Learning an Action Hierarchy Using a Learned Qualitative State Representation},
  author    = {Mugan, Jonathan and Kuipers, Benjamin},
  booktitle = {Proceedings of the Twenty-First International Joint Conference on
               Artificial Intelligence, {IJCAI-09}},
  publisher = {International Joint Conferences on Artificial Intelligence},
  editor    = {Hiroaki Kitano},
  pages     = {1175--1179},
  year      = {2009},
  url       = {https://ijcai.org/proceedings/2009/198},
}