@conference{dh2024diffusion,
  title = {Diffusion-based learning of contact plans for agile locomotion},
  booktitle = {IEEE-RAS 23rd International Conference on Humanoid Robots (Humanoids)},
  pages = {637-644},
  publisher = {IEEE},
  month = nov,
  year = {2024},
  author = {Dh'Edin, V. and Ravi, A. K. C. and Jordana, A. and Zhu, H. and Meduri, A and Righetti, L. and Sch{\"o}lkopf, B. and Khadiv, M.},
  doi = {10.1109/Humanoids58906.2024.10769875},
  url = {https://ieeexplore.ieee.org/document/10769875},
  month_numeric = {11}
}