@article{onlinebaumwelchalgorithmforhierarchical,
  title = {Online Baum-Welch algorithm for Hierarchical Imitation Learning},
  author = {Vittorio Giammarino and Ioannis Ch. Paschalidis},
  year = {2021},
  eprint = {2103.12197},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2103.12197v1},
}