@article{Tanwani16RAL,
  author="Tanwani, A. K. and Calinon, S.",
  title="Learning Robot Manipulation Tasks with Task-Parameterized Semi-Tied Hidden Semi-{M}arkov Model",
  journal="{IEEE} Robotics and Automation Letters ({RA-L})",
  doi="10.1109/LRA.2016.2517825",
  year="2016",
  month="January",
  volume="1",
  number="1",
  pages="235--242"
}