@inproceedings{niekum_osentoski_atkeson_barto_2015, 
  title={Online Bayesian changepoint detection for articulated motion models}, 
  DOI={10.1109/icra.2015.7139383}, 
  publisher={IEEE}, 
  author={Niekum and Osentoski and Atkeson and Barto}, 
  year={2015}
  }