A Bayesian approach to empirical local linearization for robotics.

Jo-Anne Ting Aaron D'Souza Sethu Vijayakumar Stefan Schaal A Bayesian approach to empirical local linearization for robotics. 2860-2865 2008 ICRA http://dx.doi.org/10.1109/ROBOT.2008.4543643 conf/icra/2008 db/conf/icra/icra2008.html#TingDVS08