@article{automataguidedhierarchicalreinforcement,
  title = {Automata-Guided Hierarchical Reinforcement Learning for Skill Composition},
  author = {Xiao Li and Yao Ma and Calin Belta},
  year = {2017},
  eprint = {1711.00129},
  archivePrefix = {arXiv},
  url = {http://arxiv.org/abs/1711.00129v2},
}