@article{glidegeneralizablequadrupedallocomotioni,
  title = {GLiDE: Generalizable Quadrupedal Locomotion in Diverse Environments with a Centroidal Model},
  author = {Zhaoming Xie and Xingye Da and Buck Babich and Animesh Garg and Michiel Van de Panne},
  year = {2021},
  eprint = {2104.09771},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2104.09771v3},
}