# CaT: Constraints as Terminations for Legged Locomotion Reinforcement Learning

> Research article (2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024) · cited 18× · AI/ML

**Wikidata**: [openalex:W4405778675](https://www.wikidata.org/wiki/openalex:W4405778675)  
**Source**: https://4ort.xyz/entity/cat-constraints-as-terminations-for-legged-locomotion-reinforcement-learning