@article{finitestatemachinepoliciesmodulating,
  title = {PM-FSM: Policies Modulating Finite State Machine for Robust Quadrupedal Locomotion},
  author = {Ren Liu and Nitish Sontakke and Sehoon Ha},
  year = {2021},
  eprint = {2109.12696},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2109.12696v2},
}