@INPROCEEDINGS{Muehlig-ICRA-2009,
  author = {Muehlig, Manuel and Gienger, Michael and Hellbach, Sven and Steil,
    Joachim J. and Goerick, {\relax Ch}ristian},
  title = {Task-Level Imitation Learning Using Variance-Based Movement Optimization},
  booktitle = {IEEE Int. Conf. on Robotics and Automation (ICRA)},
  year = {2009},
  pages = {1177--1184},
  publisher = {IEEE}
}