Peters, J Dept. Empirical Inference, Max Planck Institute for Intelligent Systems, Max Planck Society;
http://proceedings.mlr.press/v22/daniel12/daniel12.pdf (Publisher version)
Daniel, C., Neumann, G., & Peters, J. (2012). Hierarchical Relative Entropy Policy Search. In N. Lawrence, & M. Girolami (Eds.), Artificial Intelligence and Statistics, 21-23 April 2012, La Palma, Canary Islands (pp. 273-281). Madison, WI, USA: International Machine Learning Society.