@article{taskspecifiedcomplianceboundsforhumanoid,
  title = {Task-Specified Compliance Bounds for Humanoids via Lipschitz-Constrained Policies},
  author = {Zewen He and Yoshihiko Nakamura},
  year = {2026},
  eprint = {2603.16180},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2603.16180},
}