@article{oopsieverseasafetybenchmarkwithdamageawa,
  title = {OopsieVerse: A Safety Benchmark with Damage-Aware Simulation for Robot Manipulation},
  author = {Arnav Balaji and Arpit Bahety and Sriniket Ambatipudi and Daniel Lam and Junhong Xu and Roberto Martín-Martín},
  year = {2026},
  eprint = {2606.31993},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2606.31993},
}