Note: Please use legged_gym and rsl_rl provided in this repo, we have modefications on these repos.

@inproceedings{long2023him,
  title={Hybrid Internal Model: Learning Agile Legged Locomotion with Simulated Robot Response},
  author={Long, Junfeng and Wang, ZiRui and Li, Quanyi and Cao, Liu and Gao, Jiawei and Pang, Jiangmiao},
  booktitle={The Twelfth International Conference on Learning Representations},
  year={2024}
}
@misc{long2024hinf,
  title={Learning H-Infinity Locomotion Control},
  author={Junfeng Long and Wenye Yu and Quanyi Li and Zirui Wang and Dahua Lin and Jiangmiao Pang},
  year={2024},
  eprint={2404.14405},
  archivePrefix={arXiv},
}