@article{teachingrobotstoperceivetimea,
  title = {Teaching robots to perceive time -- A reinforcement learning approach (Extended version)},
  author = {Inês Lourenço and Bo Wahlberg and Rodrigo Ventura},
  year = {2019},
  eprint = {1912.10113},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/1912.10113v1},
}