The two improvements in section 3.2 seem quite low level and are only applicable to this particular approach to hierarchical RL	['con', 'con', 'con', 'con', 'con', 'con', 'con', 'con', 'con', 'con', 'con', 'con', 'con', 'con', 'con', 'con', 'con', 'con', 'con', 'con', 'con']	paper quality