@article{leonetti2012combining,
  title={Combining Local and Global Direct Derivative-free Optimization for Reinforcement Learning},
  author={Leonetti, Matteo and Kormushev, Petar and Sagratella, Simone},
  journal={International Journal of Cybernetics and Information Technologies},
  volume={12},
  number={3},
  year={2012},
  url = {https://kormushev.com/papers/Leonetti_CIT-2012.pdf}
}