@article{physicsinformedgoalconditionedreinforcem,
  title = {Physics-informed Goal-Conditioned Reinforcement Learning under Hybrid Contact Dynamics},
  author = {Vittorio Giammarino and Anastasios Manganaris and Ahmed H. Qureshi},
  year = {2026},
  eprint = {2605.30503},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2605.30503},
}