Andreas Doerr Nathan D. Ratliff Jeannette Bohg Marc Toussaint Stefan Schaal Direct Loss Minimization Inverse Optimal Control. 2015 Robotics: Science and Systems http://www.roboticsproceedings.org/rss11/p13.html https://doi.org/10.15607/RSS.2015.XI.013 conf/rss/2015 db/conf/rss/rss2015.html#DoerrRBTS15