Peters, J Department Empirical Inference, Max Planck Institute for Biological Cybernetics, Max Planck Society; Max Planck Institute for Biological Cybernetics, Max Planck Society;
https://www.sciencedirect.com/science/article/pii/S0893608008000701 (Publisher version)
Peters, J., & Schaal, S. (2008). Reinforcement Learning of Motor Skills with Policy Gradients. Neural networks, 21(4), 682-697. doi:10.1016/j.neunet.2008.02.003.