@TechReport{Options,
  author = 	 {Richard S. Sutton and Doina Precup and Satinder
                  Singh},
  title = 	 {Between {MDP}s and {Semi-MDP}s: learning, planning,
                  and representing knowledge at multiple temporal
                  scales},
  institution =  {University of Massachusetts},
  year = 	 1998,
  number =	 {98-74},
  address =	 {Amherst, MA 01003}
}

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