@article{crossentropyoptimizationofphysicallygrou,
  title = {Cross-Entropy Optimization of Physically Grounded Task and Motion Plans},
  author = {Andreu Matoses Gimenez and Nils Wilde and Chris Pek and Javier Alonso-Mora},
  year = {2025},
  eprint = {2512.11571},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2512.11571},
}