Learning Memory-Based Control for Human-Scale Bipedal Locomotion. - Jonah Siekmann; Srikar Valluri; Jeremy Dao; Lorenzo Bermillo; Helei Duan; Alan Fern; Jonathan W. Hurst (Robotics: Science and Systems, 2020)

Sim-to-Real Learning of All Common Bipedal Gaits via Periodic Reward Composition. - Jonah Siekmann; Yesh Godse; Alan Fern; Jonathan W. Hurst (ICRA, 2021)

Blind Bipedal Stair Traversal via Sim-to-Real Reinforcement Learning. - Jonah Siekmann; Kevin Green; John Warila; Alan Fern; Jonathan W. Hurst (Robotics: Science and Systems, 2021)

Sim-to-Real Learning of Footstep-Constrained Bipedal Dynamic Walking. - Helei Duan; Ashish Malik; Jeremy Dao; Aseem Saxena; Kevin Green; Jonah Siekmann; Alan Fern; Jonathan W. Hurst (ICRA, 2022)