@misc{yu2020gradient,
  title={Gradient Surgery for Multi-Task Learning},
  author={Tianhe Yu and Saurabh Kumar and Abhishek Gupta and Sergey Levine and Karol Hausman and Chelsea Finn},
  year={2020},
  eprint={2001.06782},
  archivePrefix={arXiv},
  primaryClass={cs.LG},
  url={https://arxiv.org/abs/2001.06782}
}