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We show that betweenness centrality, a graph-theoretic measure widely used in social network analysis, provides a sound basis for autonomously forming useful high-level behaviors, or skills, from available primitives— the smallest behavioral units available to an autonomous agent.
Original languageEnglish
PublisherUniversity of Massachusetts Amherst
Publication statusPublished - 12 Apr 2007


  • reinforcement learning
  • skill discovery
  • Hierarchical reinforcement learning
  • action hierachy


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