Neville Mehta Soumya Ray Prasad Tadepalli Thomas G. Dietterich Automatic discovery and transfer of MAXQ hierarchies. 648-655 2008 ICML http://doi.acm.org/10.1145/1390156.1390238 conf/icml/2008 db/conf/icml/icml2008.html#MehtaRTD08