@article{learningfunctionallydecomposedhierarchie,
  title = {Learning Functionally Decomposed Hierarchies for Continuous Control Tasks with Path Planning},
  author = {Sammy Christen and Lukas Jendele and Emre Aksan and Otmar Hilliges},
  year = {2020},
  eprint = {2002.05954},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2002.05954v4},
}