Process discovery—discovering a process model from example behavior recorded in an event log—is one of the most challenging tasks in process mining. Discovery approaches need to deal with competing quality criteria such as fitness, simplicity, precision, and generalization. Moreover, event logs may contain low frequent behavior and tend to be far from complete (i.e., typically only a fraction of the possible behavior is recorded). At the same time, models need to have formal semantics in order to reason about their quality. These complications explain why dozens of process discovery approaches have been proposed in recent years. Most of these approaches are time-consuming and/or produce poor quality models. In fact, simply checking the qual...