Caldarelli, E., Chatalic, A., Colom´e, A. `a, Rosasco, L. & Torras, C. Heteroscedastic Gaussian Processes and Random Features: Scalable Motion Primitives with Guarantees. 7th Conference on Robot Learning (CoRL 2023 (2023). at <https://proceedings.mlr.press/v229/caldarelli23a/caldarelli23a.pdf>