@inproceedings{hierarchicalreinforcementlearningwith1,
  title = {Hierarchical Reinforcement Learning with Hindsight},
  author = {Andrew Levy and Robert Platt and Kate Saenko},
  year = {2018},
  booktitle = {ICLR 2019 5},
  eprint = {1805.08180},
  archivePrefix = {arXiv},
  url = {http://arxiv.org/abs/1805.08180v2},
}