Axel Großmann Matthias Wendt Jeremy Wyatt A Semi-supervised Method for Learning the Structure of Robot Environment Interactions. 36-47 http://springerlink.metapress.com/openurl.asp?genre=article&issn=0302-9743&volume=2810&spage=36 2003 conf/ida/2003 IDA db/conf/ida/ida2003.html#GrossmannWW03