Reinforcement learning of impedance control in stochastic force fields. - Freek Stulp; Jonas Buchli; Alice Ellmer; Michael N. Mistry; Evangelos A. Theodorou; Stefan Schaal (ICDL-EPIROB, 2011)

Model-Free Reinforcement Learning of Impedance Control in Stochastic Environments. - Freek Stulp; Jonas Buchli; Alice Ellmer; Michael N. Mistry; Evangelos A. Theodorou; Stefan Schaal (IEEE Trans. Auton. Ment. Dev., 2012)