ARTICLE Wang_TRO_2024/IDIAP Online Multi-Contact Receding Horizon Planning via Value Function Approximation Wang, J. Kim, S. Lembono, Teguh Santoso Du, W. Shim, J. Samadi, S. Wang, K. Ivan, V. Calinon, Sylvain Vijayakumar, S. Tonneau, S. robot learning EXTERNAL http://publications.idiap.ch/attachments/papers/2024/Wang_TRO_2024.pdf PUBLIC IEEE Transactions on Robotics (T-RO) 2024