@InProceedings{He10AAAI,
  author = 	 {R. He and E. Brunskill and N. Roy},
  title = 	 {PUMA: Planning under Uncertainty with Macro-Actions},
  booktitle = 	 {Proceedings of the Twenty-Fourth Conference on Artificial Intelligence (AAAI)},
  year =	 {2010},
  address =	 {Atlanta, GA},
}