@article{inventingrelationalstateandaction,
  title = {Predicate Invention for Bilevel Planning},
  author = {Tom Silver and Rohan Chitnis and Nishanth Kumar and Willie McClinton and Tomas Lozano-Perez and Leslie Pack Kaelbling and Joshua Tenenbaum},
  year = {2022},
  eprint = {2203.09634},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2203.09634v3},
}