@article{zhang2026learning,
  title={Learning Whole-Body Humanoid Locomotion via Motion Generation and Motion Tracking},
  author={Zhang, Zewei and Wen, Kehan and Xu, Michael and He, Junzhe and Li, Chenhao and Miki, Takahiro and Schwarke, Clemens and Zhang, Chong and Peng, Xue Bin and Hutter, Marco},
  journal={IEEE Robotics and Automation Letters},
  year={2026}
}