@article{highdimensionalcontinuouscontrolusing,
  title = {High-Dimensional Continuous Control Using Generalized Advantage Estimation},
  author = {John Schulman and Philipp Moritz and Sergey Levine and Michael Jordan and Pieter Abbeel},
  year = {2015},
  eprint = {1506.02438},
  archivePrefix = {arXiv},
  url = {http://arxiv.org/abs/1506.02438v6},
}