@article{springerlink:10.1007/s10994-012-5278-7,
    author = {Kappen, Hilbert~J. and G\'omez, Vicen\c{c} and Opper, Manfred},
    title = {Optimal control as a graphical model inference problem},
    journal = {Machine Learning},
    publisher = {Springer Netherlands},
    pages = {159-182},
    volume = {87},
    number = {2},
    note = {10.1007/s10994-012-5278-7},
    year = {2012}
}