@ARTICLE{9682564,
  author={Krishna, Lokesh and Castillo, Guillermo A. and Mishra, Utkarsh A. and Hereid, Ayonga and Kolathaya, Shishir},
  journal={IEEE Robotics and Automation Letters}, 
  title={Linear Policies are Sufficient to Realize Robust Bipedal Walking on Challenging Terrains}, 
  year={2022},
  volume={7},
  number={2},
  pages={2047-2054},
  doi={10.1109/LRA.2022.3143227}}