Before revision:  Furthermore, we investigate the trained subtasks to demonstrate a adaptive behaviour by fine-tuning a subset of subtasks on a different task. Our approach deviates from the end-to-end learning strategy and provide an initial direction towards learning modular task representations that can generate robust behaviours .
After revision:  Moreover, we transfer the learned behavior in a different robotic environment that allows us to exploit sim-to-real transfer and demonstrate the trajectories in a real robotic system. Our training regime is carried out using a central processing unit (CPU)-based system, which demonstrates the data-efficient properties of our approach .