@inproceedings{schubert2021planbased,
    title= {Plan-Based Relaxed Reward Shaping for Goal-Directed Tasks},
    author= {Schubert, Ingmar and Oguz, Ozgur S. and Toussaint, Marc},
    booktitle= {ICLR 2021 - 9th International Conference on Learning Representations},
    year= {2021}
}