@misc{jia2026harmonic,
      title={Feedback-Modulated Harmonic Policies for Quadruped Locomotion},
      author={Yixuan Jia and Steven Roche and Jonathan P. How},
      year={2026},
      eprint={2609.17946},
      archivePrefix={arXiv},
      primaryClass={cs.RO},
      url={https://arxiv.org/abs/2609.17946},
}