@article{modelbasedplanningwithdiscreteand,
  title = {Model-Based Planning with Discrete and Continuous Actions},
  author = {Mikael Henaff and William F. Whitney and Yann Lecun},
  year = {2017},
  eprint = {1705.07177},
  archivePrefix = {arXiv},
  url = {http://arxiv.org/abs/1705.07177v2},
}