@conference{LinPonRigBer19, title = {Efficient Humanoid Contact Planning using Learned Centroidal Dynamics Prediction}, author = {Lin, Y.-C. and Ponton, B. and Righetti, L. and Berenson, D.}, booktitle = {International Conference on Robotics and Automation (ICRA)}, pages = {5280--5286}, publisher = {IEEE}, month = may, year = {2019}, doi = {10.1109/ICRA.2019.8794032}, month_numeric = {5} }