• Sutton, R.S., Precup, D., Singh, S. (1999). Between MDPs and semi-MDPs: A Framework for Temporal Abstraction in Reinforcement Learning. Artificial Intelligence 112:181-211.
  • Sutton, R. S., Modayil, J., Delp, M., Degris, T., Pilarski, P. M., White, A., Precup, D. (2011). Horde: A scalable real-time architecture for learning knowledge from unsupervised sensorimotor interaction. In Proceedings of the Tenth International Conference on Autonomous Agents and Multiagent Systems, Taipei, Taiwan.
  • Sutton, R. S., Machado, M. C., Holland, G. Z., Timbers, D. S. F., Tanner, B., & White, A. (2023). Reward-respecting subtasks for model-based reinforcement learning. Artificial Intelligence 324.

Between MDPs and semi MDPs