@article{ratliff2016doomed, title = {DOOMED: Direct Online Optimization of Modeling Errors in Dynamics}, author = {Ratliff, Nathan and Meier, Franziska and Kappler, Daniel and Schaal, Stefan}, journal = {arXiv preprint arXiv:1608.00309}, month = aug, year = {2016}, doi = {}, month_numeric = {8} }