@inproceedings{infante2022globally,
  title={Globally Optimal Hierarchical Reinforcement Learning for {Linearly-Solvable Markov Decision Processes}},
  author={Infante, Guillermo and Jonsson, Anders and G{\'o}mez, Vicen{\c{c}}},
  booktitle={Proceedings of the AAAI Conference on Artificial Intelligence},
  volume={36},
  number={6},
  pages={6970--6977},
  year={2022}
}