@inproceedings{Kormushev2012simultaneous,
  title={Simultaneous discovery of multiple alternative optimal policies by reinforcement learning},
  author={Kormushev, Petar and Caldwell, Darwin G.},
  booktitle={Intelligent Systems (IS), 2012 6th IEEE International Conference},
  pages={202--207},
  year={2012},
  organization={IEEE},
  url = {https://kormushev.com/papers/Kormushev_IS-2012.pdf},
  comment = {Best Paper Award finalist}
}