Actuating a Simple 3D Passive Dynamic Walker. - Russ Tedrake; Teresa Weirui Zhang; Ming-fai Fong; H. Sebastian Seung (ICRA, 2004)

Stochastic policy gradient reinforcement learning on a simple 3D biped. - Russ Tedrake; Teresa Weirui Zhang; H. Sebastian Seung (IROS, 2004)