@inproceedings{niekum2013incremental,
  title={Incremental Semantically Grounded Learning from Demonstration},
  author={Niekum, Scott and Chitta, Sachin and Marthi, Bhaskara and Osentoski, Sarah and Barto, Andrew G},
  booktitle={Robotics: Science and Systems 2013},
  year={2013}
}