@article{towardsaninterpretablehierarchicalagent,
  title = {Towards an Interpretable Hierarchical Agent Framework using Semantic Goals},
  author = {Bharat Prakash and Nicholas Waytowich and Tim Oates and Tinoosh Mohsenin},
  year = {2022},
  eprint = {2210.08412},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2210.08412v1},
}