Ashwin Deshpande Brian Milch Luke S. Zettlemoyer Leslie Pack Kaelbling Learning Probabilistic Relational Dynamics for Multiple Tasks. 2007 Probabilistic, Logical and Relational Learning - A Further Synthesis http://drops.dagstuhl.de/opus/volltexte/2008/1384 conf/dagstuhl/2007P7161 db/conf/dagstuhl/P7161.html#DeshpandeMZK07