@article{expressingandexploitingthecommonsubgoal,
  title = {Expressing and Exploiting the Common Subgoal Structure of Classical Planning Domains Using Sketches: Extended Version},
  author = {Dominik Drexler and Jendrik Seipp and Hector Geffner},
  year = {2021},
  eprint = {2105.04250},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2105.04250v2},
}