cff-version: 1.2.0
message: "If you use BRACE, please cite the accompanying paper."
type: software
title: "BRACE"
authors:
  - family-names: Harithas
    given-names: Sudarshan
  - family-names: Yu
    given-names: Chen
  - family-names: Borbon
    given-names: Juan
  - family-names: Mondal
    given-names: Shubhankar
  - family-names: Zha
    given-names: Winston
  - family-names: Sridhar
    given-names: Srinath
  - family-names: Zhang
    given-names: Dingqi
  - family-names: Wang
    given-names: Jiuguang
repository-code: "https://github.com/multiplylabs/brace"
url: "https://multiplylabs.github.io/brace/"
license: Apache-2.0
preferred-citation:
  type: article
  title: "BRACE: Adapting Whole-Body References for Force and Terrain Aware Humanoid Motion Tracking"
  authors:
    - family-names: Harithas
      given-names: Sudarshan
    - family-names: Yu
      given-names: Chen
    - family-names: Borbon
      given-names: Juan
    - family-names: Mondal
      given-names: Shubhankar
    - family-names: Zha
      given-names: Winston
    - family-names: Sridhar
      given-names: Srinath
    - family-names: Zhang
      given-names: Dingqi
    - family-names: Wang
      given-names: Jiuguang
  journal: arXiv
  year: 2026
  month: 10
  date-published: 2026-10-05
  doi: "10.48550/arXiv.2610.07052"
  url: "https://arxiv.org/abs/2610.07052"