@misc{wang2025beamdojolearningagilehumanoid,
      title={BeamDojo: Learning Agile Humanoid Locomotion on Sparse Footholds}, 
      author={Huayi Wang and Zirui Wang and Junli Ren and Qingwei Ben and Tao Huang and Weinan Zhang and Jiangmiao Pang},
      year={2025},
      eprint={2502.10363},
      archivePrefix={arXiv},
      primaryClass={cs.RO},
      url={https://arxiv.org/abs/2502.10363}, 
}