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 # DPtraj
 A double-polynomial discription for trajectory interfaced with learning-based front end.
 The code will come in middle July.
+This work is presented in the paper: Hierarchically Depicting Vehicle Trajectory with Stability in Complex Environments, published in Science Robotics.
+The backend trajectory optimizer improvements build upon our previous work (available at https://github.com/ZJU-FAST-Lab/Dftpav), where singularity issues were addressed. 
+Moreover, the approach has recently been extended and applied to more complex multi-joint robotic platforms (see https://github.com/Tracailer/Tracailer).