@article{learninggoalembeddingsviaselfplayfor,
  title = {Learning Goal Embeddings via Self-Play for Hierarchical Reinforcement Learning},
  author = {Sainbayar Sukhbaatar and Emily Denton and Arthur Szlam and Rob Fergus},
  year = {2018},
  eprint = {1811.09083},
  archivePrefix = {arXiv},
  url = {http://arxiv.org/abs/1811.09083v1},
}