@article{JMLR:v13:lang12a,
  author  = {Tobias Lang and Marc Toussaint and Kristian Kersting},
  title   = {Exploration in Relational Domains for Model-based Reinforcement Learning},
  journal = {Journal of Machine Learning Research},
  year    = {2012},
  volume  = {13},
  number  = {119},
  pages   = {3725--3768},
  url     = {http://jmlr.org/papers/v13/lang12a.html}
}