@article{davchev2020residual,
  title={Residual Learning from Demonstration},
  author={Davchev, Todor and Luck, Kevin Sebastian and Burke, Michael and Meier, Franziska and Schaal, Stefan and Ramamoorthy, Subramanian},
  journal={arXiv preprint arXiv:2008.07682},
  year={2020}
}