@article{whendoskillshelpreinforcementlearninga,
  title = {When Do Skills Help Reinforcement Learning? A Theoretical Analysis of Temporal Abstractions},
  author = {Zhening Li and Gabriel Poesia and Armando Solar-Lezama},
  year = {2024},
  eprint = {2406.07897},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2406.07897v1},
}