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Kubalík, Jiří (author), Alibekov, Eduard (author), Babuska, R. (author)Model-based reinforcement learning (RL) algorithms can be used to derive optimal control laws for nonlinear dynamic systems. With continuous-valued state and input variables, RL algorithms have to rely on function approximators to represent the value function and policy mappings. This paper addresses the problem of finding a smooth policy...journal article 2017