@article{addingneuralnetworkcontrollerstobehavior,
  title = {Adding Neural Network Controllers to Behavior Trees without Destroying Performance Guarantees},
  author = {Christopher Iliffe Sprague and Petter Ögren},
  year = {2018},
  eprint = {1809.10283},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/1809.10283v3},
}