HyperSurf: Quadruped Robot Leg Capable of Surface Recognition with GRU and Real-to-Sim Transferring. - Sergei Satsevich; Artem Bazhenov; Elizaveta P. Grakhova; Yaroslav Savotin; Danil Belov; Liaisan Safarova; Artem Erhov; Batyr Khabibullin; Vyacheslav Kovalev; Aleksey Fedoseev; Dzmitry Tsetserukou (CoRR, 2024)