@article{learningsmoothhumanoidlocomotionthrough,
  title = {Learning Smooth Humanoid Locomotion through Lipschitz-Constrained Policies},
  author = {Zixuan Chen and Xialin He and Yen-Jen Wang and Qiayuan Liao and Yanjie Ze and Zhongyu Li and S. Shankar Sastry and Jiajun Wu and Koushil Sreenath and Saurabh Gupta and Xue Bin Peng},
  year = {2024},
  eprint = {2410.11825},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2410.11825v3},
}