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Bounded Rationality, Abstraction, and Hierarchical Decision-Making: An Information-Theoretic Optimal

[18] T. Genewein, F. Leibfried, J. Grau-Moya, and D. A. Braun. Bounded Rationality, Abstraction, and Hierarchical Decision-Making: An Information-Theoretic Optimality Principle. Frontiers in Robotics and AI, 2:27, 2015.