@article{Peters_IJRR_2008, title = {Learning to control in operational space}, author = {Peters, J. and Schaal, S.}, journal = {International Journal of Robotics Research}, volume = {27}, pages = {197-212}, year = {2008}, note = {clmc}, crossref = {p10235}, doi = {10.1177/0278364907087548}, url = {http://www-clmc.usc.edu/publications/P/peters-IJRR2008.pdf} }