@inproceedings{lee2009effective,
  title={Effective robot task learning by focusing on task-relevant objects},
  author={Lee, Kyuhwa and Lee, Jinhan and Thomaz, Andrea Lockerd and Bobick, Aaron F},
  booktitle={IEEE/RSJ International Conference on Intelligent Robots and Systems},
  pages={2551--2556},
  year={2009},
  organization={IEEE}
}