@article{advancinghumanoidlocomotionmastering,
  title = {Advancing Humanoid Locomotion: Mastering Challenging Terrains with Denoising World Model Learning},
  author = {Xinyang Gu and Yen-Jen Wang and Xiang Zhu and Chengming Shi and Yanjiang Guo and Yichen Liu and Jianyu Chen},
  year = {2024},
  eprint = {2408.14472},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2408.14472v1},
}