Lu, Yuxiao, Arunesh Sinha, and Pradeep Varakantham. 2024. “Handling Long and Richly Constrained Tasks through Constrained Hierarchical Reinforcement Learning”. Proceedings of the AAAI Conference on Artificial Intelligence 38 (19):21368-77. https://doi.org/10.1609/aaai.v38i19.30132.