Jo-Anne Ting Mrinal Kalakrishnan Sethu Vijayakumar Stefan Schaal Bayesian Kernel Shaping for Learning Control. 1673-1680 2008 NIPS http://books.nips.cc/papers/files/nips21/NIPS2008_0178.pdf conf/nips/2008 db/conf/nips/nips2008.html#TingKVS08