@article{cheng2021rmpflow,
  title = {{RMPflow}: A Geometric Framework for Generation of Multi-Task Motion Policies},
  author = {Cheng, Ching-An and Mukadam, Mustafa and Issac, Jan and Birchfield, Stan and Fox, Dieter and Boots, Byron and Ratliff, Nathan},
  year = {2021},
  month = {jul},
  journal = {IEEE Transactions on Automation Science and Engineering (TASE)},
  volume = {18},
  number = {3},
  pages = {968--987},
  eprint = {2007.14256},
  archiveprefix = {arxiv},
}