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Hierarchical Average Reward Reinforcement Learning

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Figure

Figure 1: A robot trash-collection task and its associated task graph.
Figure 2: This figure shows the two-part decomposition for Vˆ(i,s), the projected value function ofsubtask Mi for the shaded state s
Figure 3: This figure shows the three-part decomposition for V(i,x), the hierarchical value functionof subtask Mi for the shaded state x = (ω,s)
Figure 4: This figure shows how each subtask in a hierarchical decomposition of a continuing prob-lem can be modeled as a continuing task.
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