@article{teachbipedrobotstowalkviagait,
  title = {Teach Biped Robots to Walk via Gait Principles and Reinforcement Learning with Adversarial Critics},
  author = {Kuangen Zhang and Zhimin Hou and Clarence W. de Silva and Haoyong Yu and Chenglong Fu},
  year = {2019},
  eprint = {1910.10194},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/1910.10194v1},
}