@INPROCEEDINGS{Toussaint08,
AUTHOR = "Marc Toussaint and Laurent Charlin and Pascal Poupart",
TITLE = "Hierarchical POMDP Controller Optimization by Likelihood Maximization",
BOOKTITLE = "Proceedings of the 24th Annual Conference on Uncertainty in Artificial Intelligence (UAI-08)",
PUBLISHER = "AUAI Press",
ADDRESS = "Arlington, Virginia",
YEAR = "2008",
PAGES = "562-570"
}