@inproceedings{safepontryagindifferentiableprogramming,
  title = {Safe Pontryagin Differentiable Programming},
  author = {Wanxin Jin and Shaoshuai Mou and George J. Pappas},
  year = {2021},
  booktitle = {NeurIPS 2021 12},
  eprint = {2105.14937},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2105.14937v2},
}