@misc{nachum2018data,
  title={Data-Efficient Hierarchical Reinforcement Learning},
  author={Ofir Nachum and Shane Gu and Honglak Lee and Sergey Levine},
  year={2018},
  eprint={1805.08296},
  archivePrefix={arXiv},
  primaryClass={cs.LG},
  url={https://arxiv.org/abs/1805.08296}
}