@conference {Sun2016,
	title = {Learning to Smooth with Bidirectional Predictive State Inference Machines},
	booktitle = {Proceedings of the 32nd Conference on Uncertainty in Artificial Intelligence (UAI-2016)},
	year = {2016},
	author = {Wen Sun and Roberto Capobianco and Geoff J. Gordon and James A. Bagnell and Byron Boots}
}
