@ARTICLE{vigorito_b_10,
    author = {Vigorito, Christopher M. and Barto, Andrew G.},
  keywords = {active learning, hierarchical reinforcement learning (HRL), intrinsic motivation, structure learning},
     title = {Intrinsically Motivated Hierarchical Skill Learning in Structured Environments},
   journal = {IEEE Transactions on Autonomous Mental Development (TAMD)},
    volume = {2},
    number = {2},
      year = {2010}
}