Two Steps Reinforcement Learning in Continuous Reinforcement Learning Tasks. López-Bueno, I., Garcı́a, Javier, & Fernández, F. In 10th International Work-Conference on Artificial Neural Networks (IWANN '09), 2009.
bibtex   
@inproceedings{lopez2009two,
  title={Two Steps Reinforcement Learning in Continuous Reinforcement Learning Tasks},
  author={L{\'o}pez-Bueno, Iv{\'a}n and Garc{\'\i}a, Javier and Fern{\'a}ndez, Fernando},
  booktitle={10th International Work-Conference on Artificial Neural Networks (IWANN '09)},
  year={2009}
}

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