SafeSteps: Learning Safer Footstep Planning Policies for Legged Robots via Model-Based Priors. - Shafeef Omar; Lorenzo Amatucci; Victor Barasuol; Giulio Turrisi; Claudio Semini (Humanoids, 2023)

Fast Convex Visual Foothold Adaptation for Quadrupedal Locomotion. - Shafeef Omar; Lorenzo Amatucci; Giulio Turrisi; Victor Barasuol; Claudio Semini (CoRR, 2023)