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Sosic, A., Zoubir, A. M., & Koeppl, H. (2018). A Bayesian Approach to Policy Recognition and State Representation Learning. IEEE Transactions on Pattern Analysis and Machine Intelligence, 40(6), 1295–1308. doi:10.1109/tpami.2017.2711024 

10.1109/TPAMI.2017.2711024