@inproceedings{constructingskilltreesforreinforcement,
  title = {Constructing Skill Trees for Reinforcement Learning Agents from Demonstration Trajectories},
  author = {George Konidaris and Scott Kuindersma and Roderic Grupen and Andrew G. Barto},
  year = {2010},
  booktitle = {NeurIPS 2010 12},
  url = {http://papers.nips.cc/paper/3903-constructing-skill-trees-for-reinforcement-learning-agents-from-demonstration-trajectories},
}