@misc{ren2025humanoidgoalkeeper,
      title={Humanoid Goalkeeper: Learning from Position Conditioned Task-Motion Constraints},
      author={Junli Ren and Junfeng Long and Tao Huang and Huayi Wang and Zirui Wang and Feiyu Jia and Wentao Zhang and Jingbo Wang and Ping Luo and Jiangmiao Pang},
      year={2025},
      eprint={2510.18002},
      archivePrefix={arXiv},
      primaryClass={cs.RO},
      url={https://arxiv.org/abs/2510.18002},
}