@inproceedings{GurBucMar21,
  title = {Hierarchical Reinforcement Learning with Timed Subgoals},
  booktitle = {Advances in Neural Information Processing Systems 34},
  volume = {26},
  pages = {21732--21743},
  editors = {M. Ranzato and A. Beygelzimer and Y. Dauphin and P. S. Liang and J. Wortman Vaughan},
  publisher = {Curran Associates, Inc.},
  address = {Red Hook, NY},
  month = dec,
  year = {2021},
  author = {G{\"u}rtler, N. and B{\"u}chler, D. and Martius, G.},
  url = {https://proceedings.neurips.cc/paper/2021/file/b59c21a078fde074a6750e91ed19fb21-Paper.pdf},
  month_numeric = {12}
}