@article{hierarchicalrewarddesignfromlanguageenha,
  title = {Hierarchical Reward Design from Language: Enhancing Alignment of Agent Behavior with Human Specifications},
  author = {Zhiqin Qian and Ryan Diaz and Sangwon Seo and Vaibhav Unhelkar},
  year = {2026},
  eprint = {2602.18582},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2602.18582},
}