@INPROCEEDINGS{9636070,
  author={Krishna, Lokesh and Mishra, Utkarsh A. and Castillo, Guillermo A. and Hereid, Ayonga and Kolathaya, Shishir},
  booktitle={2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}, 
  title={Learning Linear Policies for Robust Bipedal Locomotion on Terrains with Varying Slopes}, 
  year={2021},
  volume={},
  number={},
  pages={5159-5164},
  doi={10.1109/IROS51168.2021.9636070}}