@inproceedings{ijcai2009p285,
  title     = {Learning Hierarchical Task Networks for Nondeterministic Planning Domains},
  author    = {Hogg, Chad and Kuter, Ugur and Muñoz-Avila, Héctor},
  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     = {1708--1713},
  year      = {2009},
  url       = {https://ijcai.org/proceedings/2009/285},
}