@inproceedings{niekum2012learning,
  title={Learning and Generalization of Complex Tasks from Unstructured Demonstrations},
  author={Niekum, Scott and Osentoski, Sarah and Konidaris, George and Barto, Andrew G},
  booktitle={IEEE/RSJ International Conference on Intelligent Robots and Systems},
  pages={5239--5246},
  year={2012}
}