@inproceedings{singhpiper,
  title={PIPER: Primitive-Informed Preference-based Hierarchical Reinforcement Learning via Hindsight Relabeling},
  author={Singh, Utsav and Suttle, Wesley A and Sadler, Brian M and Namboodiri, Vinay P and Bedi, Amrit},
  booktitle={Forty-first International Conference on Machine Learning}
}