Williams, R. J., & Baird, L. C. I. (1993). Tight performance bounds on greedy policies based on imperfect value functions. Tech. rep., College of Computer Science, Northeastern University, Boston, Massachusetts.

Yedidia, J., Freeman, W., & Weiss, Y. (2001). Generalized belief propagation. In **Advances**
in Neural Information Processing Systems 13: Proceedings of the 2000 Conference, pp. 689–695, Denver, Colorado. MIT Press.

Zhang, N., & Poole, D. (1999). On the role of context-specific **independence in probabilistic**
reasoning. In **Proceedings of the Sixteenth International Joint Conference on Artificial** Intelligence (IJCAI-99)**, pp. 1288–1293. Morgan Kaufmann.**