@misc{gonzales2026limbo,
 archiveprefix = {arXiv},
 arxiv = {https://arxiv.org/abs/2609.22075},
 author = {Jake Gonzales and Arturo Flores Alvarez and Yu-Ming Chen and Aaron D Ames and Lillian J Ratliff and Manikantan Nambi},
 eprint = {2609.22075},
 pdf = {https://arxiv.org/pdf/2609.22075},
 title = {{LIMBO: Learning and Internalizing Model-Free Barrier Objectives for Agile and Safe Whole-Body Control}},
 url = {https://arxiv.org/abs/2609.22075},
 year = {2026}
}