# Learning quadrupedal locomotion on deformable terrain

> Research article (Science Robotics, 2023) · cited 145× · AI/ML

**Wikidata**: [openalex:W4317987839](https://www.wikidata.org/wiki/openalex:W4317987839)  
**Source**: https://4ort.xyz/entity/learning-quadrupedal-locomotion-on-deformable-terrain