1. Reinforcement Learning: An Introduction;Sutton,1998
2. An Analysis of Temporal-Difference Learning with Function Approximation;Tsitsiklis,1996
3. Reinforcement learning with soft state aggregation;Singh,1995
4. Feudal reinforcement learning;Dayan,1993
5. Hierarchical reinforcement learning with the MAXQ value function decomposition;Dietterich;J. Artificial Intelligence Res.,2000