@inproceedings{Calandraetal2015, title = {Learning Inverse Dynamics Models with Contacts}, author = {Calandra, R. and Ivaldi, S. and Deisenroth, M. and R{\"u}ckert, E. and Peters, J.}, booktitle = {{IEEE} International Conference on Robotics and Automation}, pages = {3186--3191}, year = {2015}, doi = {10.1109/ICRA.2015.7139638}, url = {http://www.ausy.tu-darmstadt.de/uploads/Site/EditPublication/Calandra_ICRA15.pdf} }