@misc{han2026ibfm,
  title = {I-BFM: Reward-Conditioned Robust Humanoid Interaction via Unsupervised Reinforcement Learning},
  author = {Han, Ziqi and Li, Yitang and Sun, Junhan and Dong, Fanrong and Shen, Yaojie and Ye, Lei and Jing, Zetong and Zhang, Yongqi and Zhang, Yiming and Wang, Xue and Zhao, Hao},
  year = {2026},
  eprint = {2610.06129},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2610.06129},
  doi = {10.48550/arXiv.2610.06129}
}