@article{henderson2017multitask,
   author = {{Henderson}, Peter and {Chang}, Wei-Di and {Shkurti}, Florian and {Hansen}, Johanna and
    {Meger}, David and {Dudek}, Gregory},
    title = {Benchmark Environments for Multitask Learning in Continuous Domains},
  journal = {Lifelong Learning: A Reinforcement Learning Approach Workshop, ICML},
     year={2017}
}