Before revision:  Factored representations can enable flexible behaviour by abstracting away general aspects of a task from those prone to change, while nonparametricmethods provide a principled way of using similarity to past experiences to guide current behaviour.
After revision:  We investigated two approaches that could enable this flexibility: factorized representations, which abstract away general aspects of a task from those prone to change, while nonparametricmethods provide a principled way of using similarity to past experiences to guide current behaviour.