@article{OsaPetNeu18, title = {Hierarchical Reinforcement Learning of Multiple Grasping Strategies with Human Instructions}, author = {Osa, T. and Peters, J. and Neumann, G.}, journal = {Advanced Robotics}, volume = {32}, number = {18}, pages = {955--968}, year = {2018}, doi = {10.1080/01691864.2018.1509018} }