Brian Milch Bhaskara Marthi Stuart J. Russell David Sontag Daniel L. Ong Andrey Kolobov BLOG: Probabilistic Models with Unknown Objects. 1352-1359 2005 conf/ijcai/2005 IJCAI http://www.ijcai.org/papers/1546.pdf db/conf/ijcai/ijcai2005.html#MilchMRSOK05