Learning to Drive a Bicycle Using Reinforcement Learning and Shaping. - Jette Randløv; Preben Alstrøm (ICML, 1998)

Learning Macro-Actions in Reinforcement Learning. - Jette Randløv (NIPS, 1998)

Shaping in Reinforcement Learning by Changing the Physics of the Problem. - Jette Randløv (ICML, 2000)

Combining Reinforcement Learning with a Local Control Algorithm. - Jette Randløv; Andrew G. Barto; Michael T. Rosenstein (ICML, 2000)