@inproceedings{venkatraman2017predictive,
 author = {Venkatraman, Arun and Rhinehart, Nicholas and Sun, Wen and Pinto, Lerrel and Hebert, Martial and Boots, Byron and Kitani, Kris M. and Bagnell, J. A.},
 booktitle = {Advances in Neural Information Processing Systems},
 pages = {1172--1183},
 title = {Predictive-state decoders: Encoding the future into recurrent networks},
 year = {2017}
}