@article{rlmodelbasedcontrolusingondemand,
  title = {RL + Model-based Control: Using On-demand Optimal Control to Learn Versatile Legged Locomotion},
  author = {Dongho Kang and Jin Cheng and Miguel Zamora and Fatemeh Zargarbashi and Stelian Coros},
  year = {2023},
  eprint = {2305.17842},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2305.17842v4},
}