@misc{zhang2026learningwholebodyhumanoidlocomotion,
      title={Learning Whole-Body Humanoid Locomotion via Motion Generation and Motion Tracking},
      author={Zewei Zhang and Kehan Wen and Michael Xu and Junzhe He and Chenhao Li and Takahiro Miki and Clemens Schwarke and Chong Zhang and Xue Bin Peng and Marco Hutter},
      year={2026},
      eprint={2604.17335},
      archivePrefix={arXiv},
      primaryClass={cs.RO},
      url={https://arxiv.org/abs/2604.17335},
}