Model primitives for hierarchical lifelong reinforcement learning

@article{wu2019model,
  title = {Model primitives for hierarchical lifelong reinforcement learning},
  author = {Bohan Wu and Jayesh K. Gupta and Mykel J. Kochenderfer},
  year = {2019},
  journal = {Autonomous Agents and Multi-Agent Systems},
  doi = {10.1007/s10458-020-09451-0},
  url = {https://doi.org/10.1007/s10458-020-09451-0},
}