@article{JMLR:v13:azar12a,
  author  = {Mohammad Gheshlaghi Azar and Vicen{\c{c}} G{{\'o}}mez and Hilbert J. Kappen},
  title   = {Dynamic Policy Programming},
  journal = {Journal of Machine Learning Research},
  year    = {2012},
  volume  = {13},
  number  = {103},
  pages   = {3207--3245},
  url     = {http://jmlr.org/papers/v13/azar12a.html}
}