@article{improvingtheperformanceofbackwardchained,
  title = {Improving the Performance of Backward Chained Behavior Trees that use Reinforcement Learning},
  author = {Mart Kartašev and Justin Saler and Petter Ögren},
  year = {2021},
  eprint = {2112.13744},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2112.13744v3},
}