Yandong Ji Zhongyu Li 0003 Yinan Sun Xue Bin Peng Sergey Levine Glen Berseth Koushil Sreenath Hierarchical Reinforcement Learning for Precise Soccer Shooting Skills using a Quadrupedal Robot. 1479-1486 2022 IROS https://doi.org/10.1109/IROS47612.2022.9981984 conf/iros/2022 db/conf/iros/iros2022.html#JiLSPLBS22