@article{differentiablesafecontrollerdesignthroug,
  title = {Differentiable Safe Controller Design through Control Barrier Functions},
  author = {Shuo Yang and Shaoru Chen and Victor M. Preciado and Rahul Mangharam},
  year = {2022},
  eprint = {2209.10034},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2209.10034v2},
}