@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} }