@article{learningavisionbasedfootstepplannerforhi,
  title = {Learning a Vision-Based Footstep Planner for Hierarchical Walking Control},
  author = {Minku Kim and Brian Acosta and Pratik Chaudhari and Michael Posa},
  year = {2025},
  eprint = {2508.06779},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2508.06779},
}