http://www.era.lib.ed.ac.uk/handle/1842/3644 (Postprint)
http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5650243&abstractAccess=no&userType=inst (Publisher version)
Bitzer, S., Howard, M., & Vijayakumar, S. (2010). Using Dimensionality Reduction to Exploit Constraints in Reinforcement Learning. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010).