RLOC: terrain-aware legged locomotion using reinforcement learning and optimal control by Gangapurwala, S, Geisert, M, Orsolino, R, Fallon, M, Havoutis, I

Real-time trajectory adaptation for quadrupedal locomotion using deep reinforcement learning by Gangapurwala, S, Geisert, M, Orsolino, R, Fallon, M, Havoutis, I

Rapid stability margin estimation for contact-rich locomotion by Orsolino, R, Gangapurwala, S, Melon, O, Geisert, M, Havoutis, I, Fallon, M

Receding-horizon perceptive trajectory optimization for dynamic legged locomotion with learned initialization by Melon, O, Orsolino, R, Surovik, D, Geisert, M, Havoutis, I, Fallon, M