@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}
}
