@inproceedings{snel:icdl11,
  title = "Robust Central Pattern Generators for Embodied Hierarchical Reinforcement Learning",
  author = "Matthijs Snel and Shimon Whiteson and Yasuo Kuniyoshi",
  year = "2011",
  booktitle = "ICDL-Epirob 2011: Proceedings of the First Joint IEEE International Conference on Development and Learning and on Epigenetic Robotics",
  month = "August",
  pages = "1-6",
  url = "http://www.cs.ox.ac.uk/people/shimon.whiteson/pubs/snelicdl11.pdf",
}