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Exploration in relational domains for model–based reinforcement learning
T. Lang, M. Toussaint, and K. Kersting
Journal of Machine Learning Re- search (JMLR), vol. 13(Dec), pp. 3691–3734

author = {T. Lang and M. Toussaint and K. Kersting},
title = {Exploration in Relational Domains for 
Model{--}based Reinforcement Learning},
journal = {Journal of Machine Learning Research (JMLR)},
year = {2012},
volume = {13},
number = {Dec},
pages = {3691{--}3734}