@conference{GabArkPetNeu17, title = {Empowered skills}, author = {Gabriel, A. and Akrour, R. and Peters, J. and Neumann, G.}, booktitle = {IEEE International Conference on Robotics and Automation (ICRA)}, pages = {6435--6441}, publisher = {IEEE}, month = may, year = {2017}, doi = {10.1109/ICRA.2017.7989760}, month_numeric = {5} }