@article {ChGi10,
	title = {Policy gradient learning for quadruped soccer robots},
	journal = {Robotics and Autonomous Systems},
	volume = {58},
	number = {7},
	year = {2010},
	note = {ISSN: 0921-8890},
	pages = {872{\textendash}878},
	publisher = {Elsevier, Amsterdam Netherlands},
	doi = {10.1016/j.robot.2010.03.008},
	author = {A. Cherubini and F. Giannone and L. Iocchi and D. Nardi and P. F. Palamara}
}
@article {ChGiIo09,
	title = {Policy Gradient Learning for a Humanoid Soccer Robot},
	journal = {Robotics and Autonomous System - Special Issue on {\textquoteleft}{\textquoteleft}Humanoid Soccer Robots{\textquoteright}{\textquoteright}},
	volume = {57},
	number = {8},
	year = {2009},
	pages = {808{\textendash}818},
	issn = {0921-8890},
	author = {A. Cherubini and F. Giannone and L. Iocchi and M. Lombardo and G. Oriolo}
}
@article { ChGiIo09,
	title = {Policy Gradient Learning for a Humanoid Soccer Robot},
	journal = {Robotics and Autonomous System - Special Issue on {\textquoteleft}{\textquoteleft}Humanoid Soccer Robots{\textquoteright}{\textquoteright}},
	volume = {57},
	number = {8},
	year = {2009},
	pages = {808{\textendash}818},
	issn = {0921-8890},
	author = {A. Cherubini and F. Giannone and L. Iocchi and M. Lombardo and G. Oriolo}
}
@conference { ChGi07b,
	title = {An extended policy gradient algorithm for robot task learning},
	booktitle = {IROS},
	year = {2007},
	pages = {4121{\textendash}4126},
	isbn = {978-1-4244-0912-9},
	author = {A. Cherubini and F. Giannone and L. Iocchi and P. F. Palamara}
}
@conference { ChGi07b,
	title = {An extended policy gradient algorithm for robot task learning},
	year = {2007},
	pages = {4121{\textendash}4126},
	isbn = {978-1-4244-0912-9},
	author = {A. Cherubini and F. Giannone and L. Iocchi and P. F. Palamara}
}
@conference {ChGi07,
	title = {Layered Learning for a soccer legged robot helped with a {3D} simulator},
	year = {2007},
	pages = {385{\textendash}392},
	publisher = {RoboCup-publisher},
	organization = {RoboCup-publisher},
	author = {A. Cherubini and F. Giannone and L. Iocchi}
}
@conference { ChGi07,
	title = {Layered Learning for a soccer legged robot helped with a {3D} simulator},
	booktitle = {RoboCup07-title},
	series = {RoboCup07-series},
	year = {2007},
	pages = {385{\textendash}392},
	publisher = {RoboCup-publisher},
	organization = {RoboCup-publisher},
	isbn = {RoboCup07-isbn},
	author = {A. Cherubini and F. Giannone and L. Iocchi}
}
@conference { ChGi07,
	title = {Layered Learning for a soccer legged robot helped with a {3D} simulator},
	year = {2007},
	pages = {385{\textendash}392},
	author = {A. Cherubini and F. Giannone and L. Iocchi}
}
