@article{JMLR:v21:18-624,
  author  = {Dominik Thalmeier and Hilbert J. Kappen and Simone Totaro and Vicen\c{c} G\'omez},
  title   = {Adaptive Smoothing for Path Integral Control},
  journal = {Journal of Machine Learning Research},
  year    = {2020},
  volume  = {21},
  number  = {191},
  pages   = {1-37},
  url     = {http://jmlr.org/papers/v21/18-624.html}
}