Krishnamurthy Dvijotham Emanuel Todorov A Unifying Framework for Linearly Solvable Control. 179-186 2011 UAI http://uai.sis.pitt.edu/displayArticleDetails.jsp?mmnu=1&smnu=2&article_id=2191&proceeding_id=27 conf/uai/2011 db/conf/uai/uai2011.html#DvijothamT11