Stephen Kelly, Tatiana Voegerl, Wolfgang Banzhaf, and Cedric Gondro. Evolving Hierarchical Memory-Prediction Machines in Multi-Task Reinforcement Learning. Genetic Programming and Evolvable Machines, 2021. pdf

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Champion Multitask Behaviour in 5 Tasks:

CartPole

Acrobot

CartCentering

Pendulum

MountainCar (Continuous Control)