@article{drexler-et-al-jair2024,
  author       = {Dominik Drexler and Jendrik Seipp and Hector Geffner},
  title        = {Expressing and Exploiting Subgoal Structure in Classical Planning Using
    Sketches},
  journal      = {Journal of Artificial Intelligence Research},
  year         = 2024,
  volume       = 80,
  pages        = {171--208},
}