# Multi-Modal Legged Locomotion Framework With Automated Residual Reinforcement Learning

> Research article (IEEE Robotics and Automation Letters, 2022) · cited 24× · AI/ML

**Wikidata**: [openalex:W4221155471](https://www.wikidata.org/wiki/openalex:W4221155471)  
**Source**: https://4ort.xyz/entity/multi-modal-legged-locomotion-framework-with-automated-residual-reinforcement-learning