@article{learningagilesoccerskillsforabipedal,
  title = {Learning Agile Soccer Skills for a Bipedal Robot with Deep Reinforcement Learning},
  author = {Tuomas Haarnoja and Ben Moran and Guy Lever and Sandy H. Huang and Dhruva Tirumala and Jan Humplik and Markus Wulfmeier and Saran Tunyasuvunakool and Noah Y. Siegel and Roland Hafner and Michael Bloesch and Kristian Hartikainen and Arunkumar Byravan and Leonard Hasenclever and Yuval Tassa and Fereshteh Sadeghi and Nathan Batchelor and Federico Casarini and Stefano Saliceti and Charles Game and Neil Sreendra and Kushal Patel and Marlon Gwira and Andrea Huber and Nicole Hurley and Francesco Nori and Raia Hadsell and Nicolas Heess},
  year = {2023},
  eprint = {2304.13653},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2304.13653v2},
}