Dalal, G., B. Szorenyi, and G. Thoppe. “A Tale of Two-Timescale Reinforcement Learning With the Tightest Finite-Time Bound”. Proceedings of the AAAI Conference on Artificial Intelligence, vol. 34, no. 04, Apr. 2020, pp. 3701-8, doi:10.1609/aaai.v34i04.5779.