@article{learningdifferentiablesafetycritical,
  title = {Learning Differentiable Safety-Critical Control using Control Barrier Functions for Generalization to Novel Environments},
  author = {Hengbo Ma and Bike Zhang and Masayoshi Tomizuka and Koushil Sreenath},
  year = {2022},
  eprint = {2201.01347},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2201.01347v3},
}