@article{JMLR:v11:theodorou10a,
  author  = {Evangelos Theodorou and Jonas Buchli and Stefan Schaal},
  title   = {A Generalized Path Integral Control Approach to Reinforcement Learning},
  journal = {Journal of Machine Learning Research},
  year    = {2010},
  volume  = {11},
  number  = {104},
  pages   = {3137--3181},
  url     = {http://jmlr.org/papers/v11/theodorou10a.html}
}