Nonstrict Hierarchical Reinforcement Learning for Interactive Systems and Robots. Cuayáhuitl, H., Kruijff-Korbayová, I., & Dethlefs, N. ACM Transactions on Interactive Intelligent Systems, 4(3):1–30, Association for Computing Machinery (ACM), October, 2014.
Nonstrict Hierarchical Reinforcement Learning for Interactive Systems and Robots [link]Paper  doi  bibtex   
@article{g885nz,
 author = {Cuayáhuitl, Heriberto and Kruijff-Korbayová, Ivana and Dethlefs, Nina},
 doi = {10.1145/2659003},
 issn = {2160-6463},
 journal = {ACM Transactions on Interactive Intelligent Systems},
 link = {https://doi.org/10.1145/2659003},
 month = {October},
 number = {3},
 pages = {1–30},
 publisher = {Association for Computing Machinery (ACM)},
 title = {Nonstrict Hierarchical Reinforcement Learning for Interactive Systems and Robots},
 url = {http://dx.doi.org/10.1145/2659003},
 volume = {4},
 year = {2014}
}

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