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Giorgio Metta, Lorenzo Natale, Shashank Pathak, Luca Pulina, Armando Tacchella. Safe and effective learning: A case study. In IEEE International Conference on Robotics and Automation, ICRA 2010, Anchorage, Alaska, USA, 3-7 May 2010. pages 4809-4814, IEEE, 2010. [doi]

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