@techreport{Marthi:EECS-2007-89,
    Author = {Bhaskara Marthi and Stuart J. Russell and Jason Wolfe},
    Title = {Angelic Semantics for High-Level Actions},
    Institution = {EECS Department, University of California, Berkeley},
    Year = {2007},
    Month = {Jul},
    URL = {http://www.eecs.berkeley.edu/Pubs/TechRpts/2007/EECS-2007-89.html},
    Number = {UCB/EECS-2007-89}
}