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