@incollection{NIPS2007_985,
 title = {Hierarchical Apprenticeship Learning with Application to Quadruped Locomotion},
 author = {J. Zico Kolter and Pieter Abbeel and Andrew Ng},
 booktitle = {Advances in Neural Information Processing Systems 20},
 editor = {J.C. Platt and D. Koller and Y. Singer and S. Roweis},
 publisher = {MIT Press},
 address = {Cambridge, MA},
 pages = {769--776},
 year = {2008}
}