@article{safestop2026,
  title   = {Humanoid Safe Stop via Learned Stoppability Value},
  author  = {Long, Junfeng and Abbeel, Pieter and Sreenath, Koushil and Horowitz, Roberto and Shi, Guanya and Liu, C. Karen},
  journal = {arXiv preprint arXiv:2609.02358},
  year    = {2026}
}