@inproceedings{Orthey2013ICRA,
  title={Optimizing motion primitives to make symbolic models more predictive},
  author={Orthey, Andreas and Toussaint, Marc and Jetchev, Nikolay},
  booktitle={IEEE International Conference on Robotics and Automation},
  pages={2868--2873},
  year={2013},
  organization={IEEE}
}