human: Given a node-centered hypergraph: <hypergraph>, where nodes represent papers and hyperedges represent groups of papers sharing a common citing paper.

Details of the hypergraph:
Center node: "A Modular Q-Learning Architecture for Manipulator Task Decomposition `Data storage in the cerebellar model ar"
  Abstract: Compositional Q-Learning (CQ-L) (Singh 1992) is a modular approach to learning to perform composite tasks made up of several elemental tasks by reinforcement learning. Skills acquired while performing elemental tasks are also applied to solve composite tasks. Individual skills compete for the right to act and only winning skills are included in the decomposition of the composite task. We extend the original CQ-L concept in two ways: (1) a more general reward function, and (2) the agent can have more than one actuator. We use the CQ-L architecture to acquire skills for performing composite tasks with a simulated two-linked manipulator having large state and action spaces. The manipulator is a non-linear dynamical system and we require its end-effector to be at specific positions in the workspace. Fast function approximation in each of the Q-modules is achieved through the use of an array of Cerebellar Model Articulation Controller (CMAC) (Albus Our research interests involve the scaling up of machine learning methods, especially reinforcement learning, for autonomous robot control. We are interested in function approximators suitable for reinforcement learning in problems with large state spaces, such as the Cerebellar Model Articulation Controller (CMAC) (Albus 1975) which permit fast, online learning and good local generalization. In addition, we are interested in task decomposition by reinforcement learning and the use of hierarchical and modular function approximator architectures. We are examining the effectiveness of a modified Hierarchical Mixtures of Experts (HME) (Jordan & Jacobs 1993) approach for reinforcement learning since the original HME was developed mainly for supervised learning and batch learning tasks. The incorporation of domain knowledge into reinforcement learning agents is an important way of extending their capabilities. Default policies can be specified, and domain knowledge can also be used to restrict the size of the state-action space, leading to faster learning. We are investigating the use of Q-Learning (Watkins 1989) in planning tasks, using a classifier system (Holland 1986) to encode the necessary condition-action rules. Jordan, M. & Jacobs, R. (1993), Hierarchical mixtures of experts and the EM algorithm, Technical Report 9301, MIT Computational Cognitive Science.

Connected through hyperedge HE-1 (induced by source paper "Transfer of Learning by Composing Solutions of Elemental Sequential Tasks"):
  with members:
    - "The Efficient Learning of Multiple Task Sequences"
    - "A Coevolutionary Approach to Learning Sequential Decision Rules"
    - "Hierarchical Explanation-Based Reinforcement Learning"
    - "Robust Reinforcement Learning in Motion Planning"
    - "Learning to Achieve Goals"
    - "Using Case-Based Reasoning as a Reinforcement Learning Framework for Optimization with Changing Criteria"
    - "Emergent Hierarchical Control Structures: Learning Reactive/Hierarchical Relationships in Reinforcement Environments"
    - "Learning Hierarchical Control Structures for Multiple Tasks and Changing Environments"

Connected through hyperedge HE-2 (induced by source paper "The Efficient Learning of Multiple Task Sequences"):
  with members:
    - "Learning to Act using Real-Time Dynamic Programming"
    - "Machine Learning Learning to Predict by the Methods of Temporal Differences Keywords: Incremental learning, prediction,"
    - "Transfer of Learning by Composing Solutions of Elemental Sequential Tasks"
    - "Exploration and Model Building in Mobile Robot Domains"

Connected through hyperedge HE-3 (induced by source paper "Hierarchical Mixtures of Experts and the EM Algorithm"):
  with members:
    - "Validation of Average Error Rate Over Classifiers"
    - "A HIERARCHICAL COMMUNITY OF EXPERTS"
    - "Comparison of Neural and Statistical Classifiers| Theory and Practice"
    - "Supervised learning from incomplete data via an EM approach"
    - "A Statistical Approach to Decision Tree Modeling"
    - "On learning hierarchical classifications"
    - "Using Neural Networks for Descriptive Statistical Analysis of Educational Data"
    - "Factorial Learning and the EM Algorithm"

Connected through hyperedge HE-4 (induced by source paper "References elements that can solve difficult learning control problems. on Simulation of Adaptive Behavior, pages"):
  with members:
    - "Machine Learning Learning to Predict by the Methods of Temporal Differences Keywords: Incremental learning, prediction,"
    - "Decision Tree Function Approximation in Reinforcement Learning"
    - "USING MARKER-BASED GENETIC ENCODING OF NEURAL NETWORKS TO EVOLVE FINITE-STATE BEHAVIOUR"
    - "Integrated Architectures for Learning, Planning, and Reacting Based on Approximating Dynamic Programming"
    - "Living in a partially structured environment: How to bypass the limitations of classical reinforcement techniques"
    - "A Neural Network Pole Balancer that Learns and Operates on a Real Robot in Real Time"
    - "Q-Learning with Hidden-Unit Restarting"
    - "Strategy Learning with Multilayer Connectionist Representations 1"

Connected through hyperedge HE-5 (induced by source paper "Exploration and Model Building in Mobile Robot Domains"):
  with members:
    - "Learning to Act using Real-Time Dynamic Programming"
    - "Integrated Architectures for Learning, Planning, and Reacting Based on Approximating Dynamic Programming"
    - "The Efficient Learning of Multiple Task Sequences"
    - "Lazy Acquisition of Place Knowledge"
    - "LEARNING BY ERROR-DRIVEN DECOMPOSITION"
    - "The Influence of Domain Properties on the Performance of Real-Time Search Algorithms"
    - "Case-Based Acquisition of Place Knowledge"

Question: Please tell me which class the center node belongs to. The 7 classes are: Neural_Networks, Reinforcement_Learning, Probabilistic_Methods, Theory, Genetic_Algorithms, Case_Based, Rule_Learning. Directly output the class name.

gpt: Reinforcement_Learning