The paper: Recent Advances in Hierarchical Reinforcement Learning, Barto and Mahadevan, Discrete Event Systems 13, 2003, Citeseer PDF
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Based on: Between MDPs and Semi-MDPs: A Framework for Temporal Abstraction in Reinforcement Learning, Sutton, Precup, and Singh, AIJ, 1999, Citeseer PDF
Based on: Reinforcement Learning with Hierarchies of Machines, Parr, and Russell, NIPS, 1998, Citeseer PDF
Based on: Hierarchical reinforcement learning with the MAXQ value function decomposition, Dietterich, JAIR, 2000, Citeseer PDF
Based on: Hierarchical Multi-Agent Reinforcement Learning, Makar, Mahadevan, and Ghavamzadeh, Fifth International Conference on Autonomous Agents, 2001, Citeseer PDF