@article{signaturesmeetdynamicprogramming,
  title = {Signatures Meet Dynamic Programming: Generalizing Bellman Equations for Trajectory Following},
  author = {Motoya Ohnishi and Iretiayo Akinola and Jie Xu and Ajay Mandlekar and Fabio Ramos},
  year = {2023},
  eprint = {2312.05547},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2312.05547v2},
}