@article{offlinepolicyevaluationformanipulationpo,
  title = {Offline Policy Evaluation for Manipulation Policies via Discounted Liveness Formulation},
  author = {Hao Wang and Joshua Bowden and Colton Crosby and Somil Bansal},
  year = {2026},
  eprint = {2605.11479},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2605.11479},
}