Methods, systems, and apparatus, including computer programs encoded on computer storage media, for controlling an agent. One of the methods includes obtaining an observation characterizing a current state of the environment and data identifying a task currently being performed by the agent; processing the observation and the data identifying the task using a high-level controller to generate a high-level probability distribution that assigns a respective probability to each of a plurality of low-level controllers; processing the observation using each of the plurality of low-level controllers to generate, for each of the plurality of low-level controllers, a respective low-level probability distribution; generating a combined probability distribution; and selecting, using the combined probability distribution, an action from the space of possible actions to be performed by the agent in response to the observation.