As a reminder: CMU and its robotics program is intimately associated with the US Department of Defense, and although there are certainly civilian applications for this technology, one of the most likely short-term applications is improving legged drones for battlefield deployment (often, it should be said, in humanitarian roles, including search and rescue, or support roles, such as ammo, food, and water resupply, but deployment of armed legged drones is also an active area of research).
Here's a military news article covering the same umbrella grant program this research was funded under: https://www.c4isrnet.com/2022/06/23/darpa-adding-common-sens...