Infante, G., Jonsson, A., & Gómez, V. (2022). Globally Optimal Hierarchical Reinforcement Learning for Linearly-Solvable Markov Decision Processes. Proceedings of the AAAI Conference on Artificial Intelligence, 36(6), 6970-6977. https://doi.org/10.1609/aaai.v36i6.20655