@article{DanNeuKroPet16,
  title = {Hierarchical Relative Entropy Policy Search},
  journal = {Journal of Machine Learning Research},
  volume = {17},
  number = {93},
  pages = {1--50},
  year = {2016},
  author = {Daniel, C. and Neumann, G. and Kroemer, O. and Peters, J.},
  url = {http://jmlr.org/papers/v17/15-188.html}
}