Policy gradient reinforcement learning for fast quadrupedal locomotion. Kohl, N. & Stone, P. In Robotics and Automation, 2004. Proceedings. ICRA'04. 2004 IEEE International Conference on, volume 3, pages 2619–2624, 2004. IEEE.
bibtex   
@InProceedings{stoneICRA04,
  title={Policy gradient reinforcement learning for fast quadrupedal locomotion},
  author={Kohl, Nate and Stone, Peter},
  booktitle={Robotics and Automation, 2004. Proceedings. ICRA'04. 2004 IEEE International Conference on},
  volume={3},
  pages={2619--2624},
  year={2004},
  organization={IEEE}
}

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