@ARTICLE{Grondman2012SurveyActorCritic, author = {Grondman, I. and L. Bu\c{s}oniu and G.A.D. Lopes and R. Babu\v{s}ka}, title = {A Survey of Actor-Critic Reinforcement Learning: Standard and Natural Policy Gradients}, journal = {{IEEE} Transactions on Systems, Man, and Cybernetics. {Part C:} {A}pplications and Reviews}, year = {2012}, volume = {42}, number = {6}, pages = {1291--1307} }