@inproceedings{ahmadzadeh2013autonomous,
  title = {Autonomous Robotic Valve Turning: A Hierarchical Learning Approach},
  author = {Ahmadzadeh, Seyed Reza and Kormushev, Petar and Caldwell, Darwin G.},
  booktitle = {Robotics and Automation (ICRA), 2013 IEEE International Conference on},
  pages = {4614--4619},
  year = {2013},
  url = {https://kormushev.com/papers/Ahmadzadeh_ICRA-2013.pdf}
}