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Reward per Step
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-2
Hierarchical
-3
-4
Flat
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-6
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-8
0
5000 10000 15000 20000 25000 30000 35000 40000 45000 50000
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1
Reward per Step
0
MAXQ
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-2
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500
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All policies
All Hierarchical Policies
Optimal
Hierarchical
Policy
Recursively Optimal Policy
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