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The options framework provides a concrete way to implement and reason about temporally extended actions. Existing literature has demonstrated the value of planning with options empirically, but there is a lack of theoretical analysis formalizing when planning with options is more efficient than planning with primitive actions. We provide a general analysis of the convergence rate of a popular Approximate Value Iteration (AVI) algorithm called Fitted Value Iteration (FVI) with options. Ourdoi:10.24963/ijcai.2017/717 dblp:conf/ijcai/MannMP17 fatcat:csrdxrsbvrcmtlaglzs2jp3kh4