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Lemme A, Reinhart F, Steil JJ.  2014.  Semi-supervised Bootstrapping of a Movement Primitive Library from Complex Trajectories. :726–732.
Reinhart F, Steil JJ.  2011.  State prediction: a constructive method to program recurrent neural networks. Artificial Neural Networks and Machine Learning – ICANN 2011 : 21st International Conference on Artificial Neural Networks, Espoo, Finland, June 14-17, 2011, Proceedings, Part I. 6791:159–166.