Jin Hwa Lee Stefano Sarao Mannelli Andrew M. Saxe Why Do Animals Need Shaping? A Theory of Task Composition and Curriculum Learning. 2024 ICML https://proceedings.mlr.press/v235/lee24r.html https://openreview.net/forum?id=S0DPCE7tt4 conf/icml/2024 db/conf/icml/icml2024.html#LeeMS24 26837-26855