@article{optimalcontinuousstatepomdpplanningwith,
  title = {Optimal Continuous State POMDP Planning with Semantic Observations: A Variational Approach},
  author = {Luke Burks and Ian Loefgren and Nisar Ahmed},
  year = {2018},
  eprint = {1807.08229},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/1807.08229v2},
}