A paper at ICML 2020 by Tung Nguyen et al.

Shu, Rui, Tung Nguyen, Yinlam Chow, Tuan Pham, Khoat Than, Mohammad Ghavamzadeh, Stefano Ermon, and Hung H. Bui. “Predictive Coding for Locally-Linear Control.” ICML (2020).