@article{learningmultilevelhierarchieswith,
  title = {Learning Multi-Level Hierarchies with Hindsight},
  author = {Andrew Levy and George Konidaris and Robert Platt and Kate Saenko},
  year = {2017},
  eprint = {1712.00948},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/1712.00948v5},
}