@article{selfsupervisedreinforcementlearningwith,
  title = {Self-supervised Reinforcement Learning with Independently Controllable Subgoals},
  author = {Andrii Zadaianchuk and Georg Martius and Fanny Yang},
  year = {2021},
  eprint = {2109.04150},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2109.04150v2},
}