Instruct: Identify the main and secondary category of Arxiv papers based on the titles
Query: MPC-based Controller with Terrain Insight for Dynamic Legged Locomotion
33
The categories of this paper are: plasm-ph
10
The categories of this paper are: q-bio
29
The categories of this paper are: funct-an
22
The categories of this paper are: chao-dyn
14
The categories of this paper are: math-ph
21
The categories of this paper are: adap-org
17
The categories of this paper are: q-fin
20
The categories of this paper are: acc-phys
25
The categories of this paper are: patt-sol
5
The categories of this paper are: gr-qc
0
The categories of this paper are: hep-ph
7
The categories of this paper are: hep-th
23
The categories of this paper are: solv-int
11
The categories of this paper are: hep-lat
4
The categories of this paper are: cond-mat
16
The categories of this paper are: stat