Dann, M., F. Zambetta, and J. Thangarajah. “Deriving Subgoals Autonomously to Accelerate Learning in Sparse Reward Domains”. Proceedings of the AAAI Conference on Artificial Intelligence, vol. 33, no. 01, July 2019, pp. 881-9, doi:10.1609/aaai.v33i01.3301881.