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