# Hierarchical Reinforcement Learning Integrating With Human Knowledge for Practical Robot Skill Learning in Complex Multi-Stage Manipulation

> Research article (IEEE Transactions on Automation Science and Engineering, 2023) · cited 23× · AI/ML

**Wikidata**: [openalex:W4384519313](https://www.wikidata.org/wiki/openalex:W4384519313)  
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