@article{nextstepslearningadisentangledgait,
  title = {Next Steps: Learning a Disentangled Gait Representation for Versatile Quadruped Locomotion},
  author = {Alexander L. Mitchell and Wolfgang Merkt and Mathieu Geisert and Siddhant Gangapurwala and Martin Engelcke and Oiwi Parker Jones and Ioannis Havoutis and Ingmar Posner},
  year = {2021},
  eprint = {2112.04809},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2112.04809v2},
}