@article{JMLR:v17:15-188,
  author  = {Christian Daniel and Gerhard Neumann and Oliver Kroemer and Jan Peters},
  title   = {Hierarchical Relative Entropy Policy Search},
  journal = {Journal of Machine Learning Research},
  year    = {2016},
  volume  = {17},
  number  = {93},
  pages   = {1--50},
  url     = {http://jmlr.org/papers/v17/15-188.html}
}