@article{ictrlimitationtocontrolhumanoidrobots,
  title = {I-CTRL: Imitation to Control Humanoid Robots Through Constrained Reinforcement Learning},
  author = {Yashuai Yan and Esteve Valls Mascaro and Tobias Egle and Dongheui Lee},
  year = {2024},
  eprint = {2405.08726},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2405.08726v2},
}