@article{Calinon13RAS,
  author="Calinon, S. and Kormushev, P. and Caldwell, D. G.",
  title="Compliant skills acquisition and multi-optima policy search with {EM}-based reinforcement learning",
  journal="Robotics and Autonomous Systems",
  year="2013",
  month="April",
  Volume="61",
  number="4",
  pages="369–-379",
}