@article{mathcalrl1mathcalgpsafesimultaneous,
  title = {Contraction $\mathcal{L}_1$-Adaptive Control using Gaussian Processes},
  author = {Aditya Gahlawat and Arun Lakshmanan and Lin Song and Andrew Patterson and Zhuohuan Wu and Naira Hovakimyan and Evangelos Theodorou},
  year = {2020},
  eprint = {2009.03864},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2009.03864v2},
}