@inproceedings{KoberP2011, title = {Learning elementary movements jointly with a higher level task }, author = {Kober, J. and Peters, J.}, pages = {338-343 }, editors = {Amato, N.M.}, publisher = {IEEE}, address = {Piscataway, NJ, USA}, month = sep, year = {2011}, doi = {10.1109/IROS.2011.6094834 }, month_numeric = {9} }