http://papers.nips.cc/paper/714-feudal-reinforcement-learning.pdf (Publisher version)
Dayan, P., & Hinton, G. (1993). Feudal Reinforcement Learning. In S. Hanson, J. Cowan, & C. Giles (Eds.), Advances in Neural Information Processing Systems 5 (pp. 271-278). San Mateo, CA, USA: Morgan Kaufmann.