@ARTICLE{Nageshrao2014PassivityBasedReinforcement,
author = {S.P. Nageshrao and G.A.D. Lopes and D. Jeltsema and R. Babu\v{s}ka},
title = {Passivity-based reinforcement learning control of a {2-DOF} manipulator arm},
journal = {Mechatronics},
year = {2014},
volume = {24},
pages = {1001--1007},
}