@article{4867,
  title = {Reinforcement Learning of Motor Skills with Policy Gradients},
  journal = {Neural Networks},
  volume = {21},
  number = {4},
  pages = {682-697},
  organization = {Max-Planck-Gesellschaft},
  school = {Biologische Kybernetik},
  month = may,
  year = {2008},
  slug = {4867},
  author = {Peters, J. and Schaal, S.},
  month_numeric = {5}
}