@incollection{
Author = {Howard M, Klanke S, Gienger M, Goerick C, Vijayakumar S},
Title = {Methods for Learning Control Policies from Variable-constraint Demonstrations},
Year = {2010},
Pages = {253-291},
Editor = {Olivier Sigaud and Jan Peters},
Publisher = {Springer Berlin / Heidelberg},
Booktitle = {From Motor Learning to Interaction Learning in Robots} }