@article{shadowprograminversionwithdifferentiable,
  title = {Shadow Program Inversion with Differentiable Planning: A Framework for Unified Robot Program Parameter and Trajectory Optimization},
  author = {Benjamin Alt and Claudius Kienle and Darko Katic and Rainer Jäkel and Michael Beetz},
  year = {2024},
  eprint = {2409.08678},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2409.08678v2},
}