@inproceedings{hierarchicalforesightselfsupervised,
  title = {Hierarchical Foresight: Self-Supervised Learning of Long-Horizon Tasks via Visual Subgoal Generation},
  author = {Suraj Nair and Chelsea Finn},
  year = {2019},
  booktitle = {ICLR 2020 1},
  eprint = {1909.05829},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/1909.05829v1},
}