@inproceedings{ijcai1999p187,
  title     = {Multi-Value-Functions: Efficient Automatic Action Hierarchies for Multiple Goal MDPs},
  author    = {Moore, Andrew W. and III, Leemon C. Baird and Kaelbling, Leslie Pack},
  booktitle = {Proceedings of the Sixteenth International Joint Conference on
               Artificial Intelligence, {IJCAI-99}},
  publisher = {International Joint Conferences on Artificial Intelligence},
  editor    = {Thomas Dean},
  pages     = {1316--1322},
  year      = {1999},
  note      = {Uncertainty and Probabilistic Reasoning},
  url       = {https://ijcai.org/proceedings/1999/187},
}