@InProceedings{LIS103,<br>title = {Learning Hierarchical Structure in Policies},<br>author = {Bhaskara Marthi and Leslie Kaelbling and Tomas Lozano-Perez},<br>year = {2007},<br>url = {http://people.csail.mit.edu/bhaskara/papers/nips07-hlearn.pdf},<br>booktitle = {NIPS Workshop on Hierarchical Organization of Behavior},<br>}