The paper presents a new approach for inverse dynamics learning which is extended to goal conditioned, multi-step inverse dynamics. The approach is combined with standard RL algorithms to solve multi-goal tasks such as the OpenAI Fetch environment. All reviewers liked the ideas presented in the paper and appreciated the contributions. The experiments were also well executed and the results are convincing. I am also convinced that the paper offers interesting aspects in the field of multi-goal RL and recommend this paper for a spotlight presentation.