@article{learningfrominterventionsusing,
  title = {Learning from Interventions using Hierarchical Policies for Safe Learning},
  author = {Jing Bi and Vikas Dhiman and Tianyou Xiao and Chenliang Xu},
  year = {2019},
  eprint = {1912.02241},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/1912.02241v1},
}