@incollection{NIPS2006_842,
 title = {Automated Hierarchy Discovery for Planning in Partially Observable Environments},
 author = {Laurent Charlin and Pascal Poupart and Romy Shioda},
 booktitle = {Advances in Neural Information Processing Systems 19},
 editor = {B. Sch\"{o}lkopf and J. Platt and T. Hoffman},
 publisher = {MIT Press},
 address = {Cambridge, MA},
 pages = {225--232},
 year = {2007}
}