Robust RL Control for Bipedal Locomotion with Closed Kinematic Chains. - Egor Maslennikov; Eduard Zaliaev; Nikita Dudorov; Oleg Shamanin; Karanov Dmitry; Gleb Afanasev; Alexey Burkov; Egor Lygin; Simeon Nedelchev; Evgeny Ponomarev (CoRR, 2025)