@inproceedings{Lee+etal06:quadruped,
	title = {Quadruped Robot Obstacle Negotiation via Reinforcement Learning},
	author = {Honglak Lee and Yirong Shen and Chih-Han Yu and Gurjeet Singh and Andrew Y. Ng},
	booktitle = {Proceedings of the International Conference on Robotics and Automation (ICRA)},
	year = {2006}
}