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Lecture Notes in Computer Science
In this paper the notion of a partial-order plan is extended to task-hierarchies. We introduce the concept of a partial-order taskhierarchy that decomposes a problem using multi-tasking actions. We go further and show how a problem can be automatically decomposed into a partial-order task-hierarchy, and solved using hierarchical reinforcement learning. The problem structure determines the reduction in memory requirements and learning time.doi:10.1007/978-3-540-89378-3_14 fatcat:bi6pxe4findg5oobpzqn4t6fha