@inproceedings{dataefficienthierarchicalreinforcement,
  title = {Data-Efficient Hierarchical Reinforcement Learning},
  author = {Ofir Nachum and Shixiang Gu and Honglak Lee and Sergey Levine},
  year = {2018},
  booktitle = {NeurIPS 2018 12},
  eprint = {1805.08296},
  archivePrefix = {arXiv},
  url = {http://arxiv.org/abs/1805.08296v4},
}