@article{JMLR:v7:langley06a,
  author  = {Pat Langley and Dongkyu Choi},
  title   = {Learning Recursive Control Programs from Problem Solving},
  journal = {Journal of Machine Learning Research},
  year    = {2006},
  volume  = {7},
  number  = {17},
  pages   = {493--518},
  url     = {http://jmlr.org/papers/v7/langley06a.html}
}