@article{JMLR:v7:abbeel06a,
  author  = {Pieter Abbeel and Daphne Koller and Andrew Y. Ng},
  title   = {Learning Factor Graphs in Polynomial Time and Sample Complexity},
  journal = {Journal of Machine Learning Research},
  year    = {2006},
  volume  = {7},
  number  = {64},
  pages   = {1743--1788},
  url     = {http://jmlr.org/papers/v7/abbeel06a.html}
}