@article{auniversalframeworkforgeneralizedrun,
  title = {A Universal Framework for Generalized Run Time Assurance with JAX Automatic Differentiation},
  author = {Umberto Ravaioli and Kyle Dunlap and Kerianne Hobbs},
  year = {2022},
  eprint = {2209.01120},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2209.01120v1},
}