@article{almahierarchicallearningforcomposite,
  title = {ALMA: Hierarchical Learning for Composite Multi-Agent Tasks},
  author = {Shariq Iqbal and Robby Costales and Fei Sha},
  year = {2022},
  eprint = {2205.14205},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2205.14205v2},
}