@article{optimizingtrajectorytreesinbeliefspacean,
  title = {Optimizing Trajectory-Trees in Belief Space: An Application from Model Predictive Control to Task and Motion Planning},
  author = {Camille Phiquepal and Marc Toussaint},
  year = {2026},
  eprint = {2605.01860},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2605.01860},
}