Schaal, S. Dept. Autonomous Motion, Max Planck Institute for Intelligent Systems, Max Planck Society;
Stulp, F., & Schaal, S. (2011). Hierarchical reinforcement learning with movement primitives. In 2011 11th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2011) (pp. 231-238). Piscataway, NJ: IEEE. doi:10.1109/Humanoids.2011.6100841.
