@inproceedings{ijcai2015p493,
  title     = {Potential Based Reward Shaping for Hierarchical Reinforcement Learning},
  author    = {Gao, Yang and Toni, Francesca},
  booktitle = {Proceedings of the Twenty-Fourth International Joint Conference on
               Artificial Intelligence, {IJCAI-15}},
  publisher = {International Joint Conferences on Artificial Intelligence},
  editor    = {Qiang Yang and Michael Wooldridge},
  pages     = {3504--3509},
  year      = {2015},
  month     = {7},
  note      = {Special Track on Machine Learning},
  url       = {https://ijcai.org/proceedings/2015/493},
}