[Valpola and Karhunen. "An Unsupervised Ensemble Learning Method for Nonlinear Dynamic State-Space Models." Neural Computation, 2002.](https://mlanthology.org/neco/2002/valpola2002neco-unsupervised/) doi:10.1162/089976602760408017
@article{valpola2002neco-unsupervised,
title = {{An Unsupervised Ensemble Learning Method for Nonlinear Dynamic State-Space Models}},
author = {Valpola, Harri and Karhunen, Juha},
journal = {Neural Computation},
year = {2002},
pages = {2647-2692},
doi = {10.1162/089976602760408017},
volume = {14},
url = {https://mlanthology.org/neco/2002/valpola2002neco-unsupervised/}
}