Peters, J Department Empirical Inference, Max Planck Institute for Biological Cybernetics, Max Planck Society; Max Planck Institute for Biological Cybernetics, Max Planck Society;
https://journals.sagepub.com/doi/pdf/10.1177/0278364907087548 (Publisher version)
Peters, J., & Schaal, S. (2008). Learning to Control in Operational Space. The International Journal of Robotics Research, 27(2), 197-212. doi:10.1177/0278364907087548.