@article{chasingstabilityhumanoidrunningviacontro,
  title = {Chasing Stability: Humanoid Running via Control Lyapunov Function Guided Reinforcement Learning},
  author = {Zachary Olkin and Kejun Li and William D. Compton and Aaron D. Ames},
  year = {2025},
  eprint = {2509.19573},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2509.19573},
}