@article{margmasteringriskygapterrainsforleggedro,
  title = {MARG: MAstering Risky Gap Terrains for Legged Robots with Elevation Mapping},
  author = {Yinzhao Dong and Ji Ma and Liu Zhao and Wanyue Li and Peng Lu},
  year = {2025},
  eprint = {2509.20036},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2509.20036},
}