@article{niekum2015Grounded,
  title={Learning Grounded Finite-State Representations from Unstructured Demonstrations},
  author={Niekum, Scott and Osentoski, Sarah and Konidaris, George D and Chitta, Sachin and Marthi, Bhaskara and Barto, Andrew G},
  journal={International Journal of Robotics Research},
  volume={34},
  number={2},
  pages={131–157},
  year={2015},
  publisher={SAGE}
}