AUTHOR=Berducci Luigi , Aguilar Edgar A. , Ničković Dejan , Grosu Radu 

TITLE=HPRS: hierarchical potential-based reward shaping from task specifications

JOURNAL=Frontiers in Robotics and AI

VOLUME=11

YEAR=2025

URL=https://www.frontiersin.org/journals/robotics-and-ai/articles/10.3389/frobt.2024.1444188

DOI=10.3389/frobt.2024.1444188

ISSN=2296-9144