@article{stampdifferentiabletaskandmotionplanning,
  title = {STAMP: Differentiable Task and Motion Planning via Stein Variational Gradient Descent},
  author = {Yewon Lee and Andrew Z. Li and Philip Huang and Eric Heiden and Krishna Murthy Jatavallabhula and Fabian Damken and Kevin Smith and Derek Nowrouzezahrai and Fabio Ramos and Florian Shkurti},
  year = {2023},
  eprint = {2310.01775},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2310.01775v4},
}