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@ARTICLE {barto03, author= "Barto, Andrew G. and Mahadevan, Sridhar", title= "{R}ecent {A}dvances in {H}ierarchical {R}einforcement {L}earning", journal= "{D}iscrete {E}vent {D}ynamic {S}ystems: {T}heory and {A}pplication", year= "2003", volume= "13", number= "4", pages= "341--379"}@ARTICLE{ghavamzadeh06, author= "Ghavamzadeh, Mohammed and Mahadevan, Sridhar and Makar, Rajbala", title= "{H}ierarchical {M}ulti-{A}gent {R}einforcement {L}earning", journal= "{J}ournal of {A}utonomous {A}gents and {M}ulti-{A}gent {S}ystems", year= "2006", volume= "13", number= "2", pages= "197--229"}@ARTICLE{sutton99, author= "Sutton, Richard S. and Precup, Doina and Singh, Satinder", title= "{B}etween {MDP}s and {S}emi-{MDP}s: {A} {F}ramework for {T}emporal {A}bstraction in {R}einforcement {L}earning", journal= "{A}rtificial {I}ntelligenge", year= "1999", volume= "112", pages= "181--211"}@CONFERENCE{mcgovern01, author= "McGovern, Amy and Barto, Andrew G.", title= "{A}utomatic {D}iscovery of {S}ubgoals in {R}einforcement {L}earning using {D}iverse {D}ensity", booktitle= "{P}roc. 18th {I}nternational {C}onf. on {M}achine {L}earning", publisher= "{M}organ {K}aufmann, {S}an {F}rancisco, {CA}", pages= "361--368", year= "2001"}@CONFERENCE{bakker04, author= "Bakker, Bram and Schmidhuber, J{\"{u}}rgen", title= "Hierarchical Reinforcement Learning Based on Subgoal Discovery and Subpolicy Specialization", booktitle= "Proceedings of the 8-th Conference on Intelligent Autonomous Systems", publisher= "IAS-8, Amsterdam, The Netherlands", pages= "438--445", year= "2004"}@INPROCEEDINGS{parr97, author= "Ronald Parr and Stuart Russell", title= "Reinforcement Learning with Hierarchies of Machines", booktitle= "Advances in Neural Information Processing Systems", volume= "10", publisher= "The {MIT} Press", editor= "Michael I. Jordan and Michael J. Kearns and Sara A. Solla", year= "1997"}@ARTICLE{dietterich00, author= "Dietterich, Thomas G.", title= "Hierarchical Reinforcement Learning with the MAXQ Value Function Decomposition", journal= "Journal of Artificial Intelligence Research", year= "2000", volume= "13", pages= "227--303"}@INPROCEEDINGS{stone01, author = "Peter Stone and Richard S. Sutton", title = "Scaling Reinforcement Learning toward {RoboCup} Soccer", booktitle = "Proc. 18th International Conf. on Machine Learning", publisher = "Morgan Kaufmann, San Francisco, CA", pages = "537--544", year = "2001"}@MISC{bats, author= "BATS, Little Green", title= "http://www.littlegreenbats.nl"};@MISC{robocup, author= "RoboCup", title= "http://www.robocup.org"}
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