@incollection{NIPS2010_0667,
 title = {An Approximate Inference Approach to Temporal Optimization in Optimal Control},
 author = {Konrad Rawlik and Marc Toussaint and Sethu Vijayakumar},
 booktitle = {Advances in Neural Information Processing Systems 23},
 editor = {J. Lafferty and C. K. I. Williams and J. Shawe-Taylor and R.S. Zemel and A. Culotta},
 pages = {2011--2019},
 year = {2010}
}