@article{goalspaceabstractioninhierarchical1,
  title = {Goal Space Abstraction in Hierarchical Reinforcement Learning via Set-Based Reachability Analysis},
  author = {Mehdi Zadem and Sergio Mover and Sao Mai Nguyen},
  year = {2023},
  eprint = {2309.07675},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2309.07675v2},
}