@article{4863, title = {Natural Actor-Critic}, author = {Peters, J. and Schaal, S.}, journal = {Neurocomputing}, volume = {71}, number = {7-9}, pages = {1180-1190}, organization = {Max-Planck-Gesellschaft}, school = {Biologische Kybernetik}, month = mar, year = {2008}, doi = {10.1016/j.neucom.2007.11.026}, month_numeric = {3} }