@article{simtorealtransferforquadrupedal,
  title = {Sim-to-Real Transfer for Quadrupedal Locomotion via Terrain Transformer},
  author = {Hang Lai and Weinan Zhang and Xialin He and Chen Yu and Zheng Tian and Yong Yu and Jun Wang},
  year = {2022},
  eprint = {2212.07740},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2212.07740v2},
}