@conference{KoeMaeLioNeuPet16,
  title = {Demonstration Based Trajectory Optimization for Generalizable Robot Motions},
  booktitle = {IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids)},
  pages = {515--522},
  publisher = {IEEE},
  month = nov,
  year = {2016},
  author = {Koert, D. and Maeda, G.J. and Lioutikov, R. and Neumann, G. and Peters, J.},
  doi = {10.1109/HUMANOIDS.2016.7803324},
  month_numeric = {11}
}