Paper  bibtex   

@inproceedings{randlov_learning_1998,
	title = {Learning to drive a bicycle using reinforcement learning and shaping},
	url = {http://pdf.aminer.org/000/335/589/learning_to_drive_a_bicycle_using_reinforcement_learning_and_shaping.pdf},
	urldate = {2013-10-17},
	booktitle = {Proceedings of the {Fifteenth} {International} {Conference} on {Machine} {Learning}},
	author = {Randlov, Jette and Alstrom, Preben},
	year = {1998},
	pages = {463--471}
}