Yoonseon Oh Roma Patel Thao Nguyen Baichuan Huang Matthew Berg Ellie Pavlick Stefanie Tellex Hierarchical planning with state abstractions for temporal task specifications. 667-683 2022 46 Auton. Robots 6 https://doi.org/10.1007/s10514-022-10043-y db/journals/arobots/arobots46.html#OhPNHBPT22
