@article{learninglocomotiononcomplexterrainforqua,
  title = {Learning Locomotion on Complex Terrain for Quadrupedal Robots with Foot Position Maps and Stability Rewards},
  author = {Matthew Hwang and Yubin Liu and Ryo Hakoda and Takeshi Oishi},
  year = {2026},
  eprint = {2604.02744},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2604.02744},
}