@article{reinforcementlearningandcontrolas,
  title = {Reinforcement Learning and Control as Probabilistic Inference: Tutorial and Review},
  author = {Sergey Levine},
  year = {2018},
  eprint = {1805.00909},
  archivePrefix = {arXiv},
  url = {http://arxiv.org/abs/1805.00909v3},
}