@mastersthesis{vandijkmscthesis08,
  abstract = {{This study investigates the use of Hierarchical Reinforcement Learning (HRL) and automatic sub-goal discovery methods in continuous environments. These are inspired by the  RoboCup 3D Simulation environment and supply navigation tasks with clear bottleneck situations. The goal of this research is to enhance the learning performance of agents performing these tasks. This is done by implementing existing learning algorithms, extending these to continuous environments and by introducing new methods to improve the algorithms.}},
  school = {{University of Groningen}},
  author = {van Dijk, Sander G.},
  title = {{Practical Hierarchical Reinforcement Learning in Continuous Domains}},
  year = {{2008}}
}