@inproceedings{predictivestatedecodersencodingthefuture,
  title = {Predictive-State Decoders: Encoding the Future into Recurrent Networks},
  author = {Arun Venkatraman and Nicholas Rhinehart and Wen Sun and Lerrel Pinto and Martial Hebert and Byron Boots and Kris M. Kitani and J. Andrew Bagnell},
  year = {2017},
  booktitle = {NeurIPS 2017 12},
  eprint = {1709.08520},
  archivePrefix = {arXiv},
  url = {http://arxiv.org/abs/1709.08520v1},
}