Peters, J. Department Empirical Inference, Max Planck Institute for Biological Cybernetics, Max Planck Society; Max Planck Institute for Biological Cybernetics, Max Planck Society;
https://www.sciencedirect.com/science/article/pii/S0893608009003220 (Verlagsversion)
Sehnke, F., Osendorfer, C., Rückstiess, T., Graves, A., Peters, J., & Schmidhuber, J. (2010). Parameter-exploring policy gradients. Neural networks, 21(4), 551-559. doi:10.1016/j.neunet.2009.12.004.