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Newton, M.A. Hakim and Levine, John and Fox, Maria and Long, Derek; Boddy, Mark and Fox, Maria and Thiebaux, Sylvie, eds. (2007) Learning macro-actions for arbitrary planners and domains. In: Proceedings of the Seventeenth International Conference on Automated Planning and Scheduling (ICAPS 2007). AAAI Press, California, USA, pp. 256-263. ISBN 1577353447