@article{unsupervisedperceptualrewardsforimitatio,
  title = {Unsupervised Perceptual Rewards for Imitation Learning},
  author = {Pierre Sermanet and Kelvin Xu and Sergey Levine},
  year = {2016},
  eprint = {1612.06699},
  archivePrefix = {arXiv},
  url = {http://arxiv.org/abs/1612.06699v3},
}