# RL + Model-Based Control: Using On-Demand Optimal Control to Learn Versatile Legged Locomotion

> Research article (IEEE Robotics and Automation Letters, 2023) · cited 35× · AI/ML

**Wikidata**: [openalex:W4386038305](https://www.wikidata.org/wiki/openalex:W4386038305)  
**Source**: https://4ort.xyz/entity/rl-model-based-control-using-on-demand-optimal-control-to-learn-versatile-legged-locomotion