@misc{long2024learninghumanoidlocomotionperceptive,
      title={Learning Humanoid Locomotion with Perceptive Internal Model}, 
      author={Junfeng Long and Junli Ren and Moji Shi and Zirui Wang and Tao Huang and Ping Luo and Jiangmiao Pang},
      year={2024},
      eprint={2411.14386},
      archivePrefix={arXiv},
      primaryClass={cs.RO},
}