@article{whendoesselfpredictionhelpunderstanding,
  title = {When does Self-Prediction help? Understanding Auxiliary Tasks in Reinforcement Learning},
  author = {Claas Voelcker and Tyler Kastner and Igor Gilitschenski and Amir-Massoud Farahmand},
  year = {2024},
  eprint = {2406.17718},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2406.17718v1},
}