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Stefan Elfwing Eiji Uchibe Kenji Doya An Evolutionary Approach to Automatic Construction of the Structure in Hierarchical Reinforcement Learning. 507-509 2003 conf/gecco/2003-1 GECCO http://link.springer.de/link/service/series/0558/bibs/2723/27230507.htm db/conf/gecco/gecco2003-1.html#ElfwingUD03