@inproceedings{silver2023inventing,
  author    = {Tom Silver and Rohan Chitnis and Nishanth Kumar and Willie McClinton and Tomas Lozano-Perez and Leslie Pack Kaelbling and Joshua Tenenbaum},
  title     = {Predicate Invention for Bilevel Planning},
  booktitle = {AAAI Conference on Artificial Intelligence (AAAI)},
  year      = {2023},
}