@inproceedings{schubert2021learning,
    title= {Learning to Execute: Efficient Learning of Universal Plan-Conditioned Policies in Robotics},
    author= {Schubert, Ingmar and Driess, Danny and Oguz, Ozgur S. and Toussaint, Marc},
    booktitle= {NeurIPS 2021 - Neural Information Processing Systems 34},
    year= {2021}
}