@inproceedings{improvinginputoutputlinearizing,
  title = {Improving Input-Output Linearizing Controllers for Bipedal Robots via Reinforcement Learning},
  author = {Fernando Castañeda and Mathias Wulfman and Ayush Agrawal and Tyler Westenbroek and Claire J. Tomlin and S. Shankar Sastry and Koushil Sreenath},
  year = {2020},
  booktitle = {L4DC 2020 6},
  eprint = {2004.07276},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2004.07276v2},
}