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