@inproceedings{Kroemeretal2015, title = {Towards Learning Hierarchical Skills for Multi-Phase Manipulation Tasks}, author = {Kroemer, O. and Daniel, C. and Neumann, G and van Hoof, H. and Peters, J.}, booktitle = {{IEEE} International Conference on Robotics and Automation}, pages = {1503 - 1510}, year = {2015}, doi = {10.1109/ICRA.2015.7139389}, url = {http://www.ausy.tu-darmstadt.de/uploads/Site/EditPublication/KroemerICRA15.pdf} }