@article{surfaceconstraintpolicyforlearningsurfac,
  title = {Surface Constraint Policy for Learning Surface-Constrained and Dynamically Feasible Robot Skills},
  author = {Shuai Ke and Jiexin Zhang and Huan Zhao and Zhiao Wei and Yikun Guo and Jie Pan and Han Ding},
  year = {2026},
  eprint = {2605.31321},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2605.31321},
}