@article{hierarchicallinearlysolvablemarkov,
  title = {Hierarchical Linearly-Solvable Markov Decision Problems},
  author = {Anders Jonsson and Vicenç Gómez},
  year = {2016},
  eprint = {1603.03267},
  archivePrefix = {arXiv},
  url = {http://arxiv.org/abs/1603.03267v1},
}