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Cognitive Psychology and related disciplines have identified several critical mechanisms that enable intelligent biological agents to learn to solve complex problems. There exists pressing evidence that the cognitive mechanisms that enable problem-solving skills in these species build on hierarchical mental representations. Among the most promising computational approaches to provide comparable learning-based problem-solving abilities for artificial agents and robots is hierarchicalarXiv:2012.10147v1 fatcat:dfkdehyz2rggtimmlcmtvycpxe