@article{rmp2astructuredcomposablepolicyclassfor,
  title = {RMP2: A Structured Composable Policy Class for Robot Learning},
  author = {Anqi Li and Ching-An Cheng and M. Asif Rana and Man Xie and Karl Van Wyk and Nathan Ratliff and Byron Boots},
  year = {2021},
  eprint = {2103.05922},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2103.05922v1},
}