@article{constraintgenerationpolicyoptimization,
  title = {Constraint-Generation Policy Optimization (CGPO): Nonlinear Programming for Policy Optimization in Mixed Discrete-Continuous MDPs},
  author = {Michael Gimelfarb and Ayal Taitler and Scott Sanner},
  year = {2024},
  eprint = {2401.12243},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2401.12243v2},
}