Learning nonlinear state-space models for control. - Tapani Raiko; Matti Tornio (IJCNN, 2005)

State Inference in Variational Bayesian Nonlinear State-Space Models. - Tapani Raiko; Matti Tornio; Antti Honkela; Juha Karhunen (ICA, 2006)

Natural Conjugate Gradient in Variational Inference. - Antti Honkela; Matti Tornio; Tapani Raiko; Juha Karhunen (ICONIP (2), 2007)

Variational Bayesian learning of nonlinear hidden state-space models for model predictive control. - Tapani Raiko; Matti Tornio (Neurocomputing, 2009)

Approximate Riemannian Conjugate Gradient Learning for Fixed-Form Variational Bayes. - Antti Honkela; Tapani Raiko; Mikael Kuusela; Matti Tornio; Juha Karhunen (J. Mach. Learn. Res., 2010)