@article{walktheplancphysicsguidedrlforagilehuman,
  title = {Walk the PLANC: Physics-Guided RL for Agile Humanoid Locomotion on Constrained Footholds},
  author = {Min Dai and William D. Compton and Junheng Li and Lizhi Yang and Aaron D. Ames},
  year = {2026},
  eprint = {2601.06286},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2601.06286},
}