@article{luo2024goal,
  title={Goal-Conditioned Hierarchical Reinforcement Learning With High-Level Model Approximation},
  author={Luo, Yu and Ji, Tianying and Sun, Fuchun and Liu, Huaping and Zhang, Jianwei and Jing, Mingxuan and Huang, Wenbing},
  journal={IEEE Transactions on Neural Networks and Learning Systems},
  year={2024},
  publisher={IEEE}
}