@article{piperprimitiveinformedpreferencebased,
  title = {PIPER: Primitive-Informed Preference-based Hierarchical Reinforcement Learning via Hindsight Relabeling},
  author = {Utsav Singh and Wesley A. Suttle and Brian M. Sadler and Vinay P. Namboodiri and Amrit Singh Bedi},
  year = {2024},
  eprint = {2404.13423},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2404.13423v2},
}