@article{SosRuePetZouKoe18,
  title = {Inverse Reinforcement Learning via Nonparametric Spatio-Temporal Subgoal Modeling},
  journal = {Journal of Machine Learning Research},
  volume = {19},
  number = {69},
  pages = {1--45},
  year = {2018},
  author = {{\v{S}}o{\v{s}}i{\'c}, A. and Rueckert, E. and Peters, J. and Zoubir, A.M. and Koeppl, H.},
  url = {http://jmlr.org/papers/v19/18-113.html}
}