# Viability leads to the emergence of gait transitions in learning agile quadrupedal locomotion on challenging terrains

> Research article (Nature Communications, 2024) · cited 29× · AI/ML

**Wikidata**: [openalex:W4394603121](https://www.wikidata.org/wiki/openalex:W4394603121)  
**Source**: https://4ort.xyz/entity/viability-leads-to-the-emergence-of-gait-transitions-in-learning-agile-quadrupedal-locomotion-on-challenging-terrains