@article{subgoalbasedrewardshapingtoimprove,
  title = {Subgoal-based Reward Shaping to Improve Efficiency in Reinforcement Learning},
  author = {Takato Okudo and Seiji Yamada},
  year = {2021},
  eprint = {2104.06411},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2104.06411v1},
}