Direct link to paper:<p>Combining Model-Based Policy Search with Online Model Learning for Control of Physical Humanoids<p><a href="http:&#x2F;&#x2F;www.eecs.berkeley.edu&#x2F;~igor.mordatch&#x2F;darwin&#x2F;paper.pdf" rel="nofollow">http:&#x2F;&#x2F;www.eecs.berkeley.edu&#x2F;~igor.mordatch&#x2F;darwin&#x2F;paper.pdf</a>