@article{calinon2012compliant,
  title={Compliant skills acquisition and multi-optima policy search with EM-based reinforcement learning},
  author={Calinon, Sylvain and Kormushev, Petar and Caldwell, Darwin G.},
  journal={Robotics and Autonomous Systems},
  year={2012},
  publisher={Elsevier},
  url = {https://kormushev.com/papers/Calinon-RAS2012.pdf}
}