Feudal Reinforcement Learning. Dayan, P. and Hinton, G. E. In Advances in Neural Information Processing Systems 5. Morgan-Kaufmann, San Mateo, 1993.
bibtex   
@incollection{feudal,
	Address = {San Mateo},
	Author = {Peter Dayan and Geoffrey E. Hinton},
	Booktitle = {Advances in Neural Information Processing Systems 5},
	Publisher = {Morgan-Kaufmann},
	Title = {Feudal Reinforcement Learning},
	Year = {1993}}
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