@inproceedings{modularmultitaskreinforcementlearningwit,
  title = {Modular Multitask Reinforcement Learning with Policy Sketches},
  author = {Jacob Andreas and Dan Klein and Sergey Levine},
  year = {2016},
  booktitle = {ICML 2017 8},
  eprint = {1611.01796},
  archivePrefix = {arXiv},
  url = {http://arxiv.org/abs/1611.01796v2},
}