@article{theplanneroptimizationproblemformulation,
  title = {The Planner Optimization Problem: Formulations and Frameworks},
  author = {Yiyuan Lee and Katie Lee and Panpan Cai and David Hsu and Lydia E. Kavraki},
  year = {2023},
  eprint = {2303.06768},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2303.06768v2},
}