@inproceedings{hierarchythroughcompositionwithmultitask,
  title = {Hierarchy Through Composition with Multitask LMDPs},
  author = {Andrew M. Saxe and Adam C. Earle and Benjamin Rosman},
  year = {2017},
  booktitle = {ICML 2017 8},
  url = {https://icml.cc/Conferences/2017/Schedule?showEvent=725},
}