Schaal, S. Dept. Autonomous Motion, Max Planck Institute for Intelligent Systems, Max Planck Society;
Stulp, F., Buchli, J., Ellmer, A., Mistry, M., Theodorou, E., Schaal, S., et al. (2012). Model-free Reinforcement Learning of Impedance Control in Stochastic Environments. IEEE Transactions on Autonomous Mental Development, 4(4), 330-341.