@article{tamedpumasafeandstableimitationlearning,
  title = {TamedPUMA: safe and stable imitation learning with geometric fabrics},
  author = {Saray Bakker and Rodrigo Pérez-Dattari and Cosimo Della Santina and Wendelin Böhmer and Javier Alonso-Mora},
  year = {2025},
  eprint = {2503.17432},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2503.17432v1},
}