@article{planningwithabstractlearnedmodelswhile,
  title = {Planning with Abstract Learned Models While Learning Transferable Subtasks},
  author = {John Winder and Stephanie Milani and Matthew Landen and Erebus Oh and Shane Parr and Shawn Squire and Marie desJardins and Cynthia Matuszek},
  year = {2019},
  eprint = {1912.07544},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/1912.07544v2},
}