@inproceedings{Bakker:04ias,
author = {B. Bakker and J. Schmidhuber},
title = {Hierarchical Reinforcement Learning Based on Subgoal 
Discovery and Subpolicy Specialization},
booktitle = "Proc. 8th Conference on Intelligent Autonomous Systems IAS-8",
editor    = "F. Groen et al.",
publisher = "IOS Press",
pages     = "438-445",
address   = "Amsterdam, NL",
year   = {2004}}

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