@article{learningrationalsubgoalsfrom,
  title = {Learning Rational Subgoals from Demonstrations and Instructions},
  author = {Zhezheng Luo and Jiayuan Mao and Jiajun Wu and Tomás Lozano-Pérez and Joshua B. Tenenbaum and Leslie Pack Kaelbling},
  year = {2023},
  eprint = {2303.05487},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2303.05487v1},
}