@article{JMLR:v19:17-329,
  author  = {Riad Akrour and Abbas Abdolmaleki and Hany Abdulsamad and Jan Peters and Gerhard Neumann},
  title   = {Model-Free Trajectory-based Policy Optimization with Monotonic Improvement},
  journal = {Journal of Machine Learning Research},
  year    = {2018},
  volume  = {19},
  number  = {14},
  pages   = {1--25},
  url     = {http://jmlr.org/papers/v19/17-329.html}
}