@article{learningbipedalwalkingonplannedfootsteps,
  title = {Learning Bipedal Walking On Planned Footsteps For Humanoid Robots},
  author = {Rohan Pratap Singh and Mehdi Benallegue and Mitsuharu Morisawa and Rafael Cisneros and Fumio Kanehiro},
  year = {2022},
  eprint = {2207.12644},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2207.12644v2},
}