@conference{LinPonRigBer19,
  title = {Efficient Humanoid Contact Planning using Learned Centroidal Dynamics Prediction},
  booktitle = {International Conference on Robotics and Automation (ICRA)},
  pages = {5280--5286},
  publisher = {IEEE},
  month = may,
  year = {2019},
  author = {Lin, Y.-C. and Ponton, B. and Righetti, L. and Berenson, D.},
  doi = {10.1109/ICRA.2019.8794032},
  month_numeric = {5}
}