@article{anybodyguarduniversalsafeguardingformani,
  title = {Any-Body Guard: Universal Safeguarding for Manipulation Policies via Action Masking},
  author = {Alex Beaudin and Hanna Krasowski and Kartik Nagpal and Sanjit A. Seshia and Murat Arcak and Negar Mehr},
  year = {2026},
  eprint = {2606.22278},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2606.22278},
}