Learning by biasing
@InProceedings{hailu98cras,
  author = 	 {G. Hailu and G. Sommer},
  title = 	 {Learning by biasing},
  booktitle = 	 {IEEE Conference on Robotics and Automation Systems},
  year =	 1998,
  organization = {Leuven, Belgium},
  pages =        {2168-2173},
  }