REPORT Jankowski_Idiap-RR-04-2023/IDIAP VP-STO: Via-point-based Stochastic Trajectory Optimization for Reactive Robot Behavior Jankowski, Julius Brudermuller, Lara Hawes, Nick Calinon, Sylvain EXTERNAL http://publications.idiap.ch/attachments/reports/2022/Jankowski_Idiap-RR-04-2023.pdf PUBLIC Idiap-RR-04-2023 2023 Idiap June 2023