diff --git a/.gitignore b/.gitignore
index 64e7b3df..36868b0f 100644
--- a/.gitignore
+++ b/.gitignore
@@ -5,4 +5,5 @@
 /examples/**/plots/
 /examples/**/trajectories/
 pardiso.lic
-/.CondaPkg/
\ No newline at end of file
+/.CondaPkg/
+*.code-workspace
\ No newline at end of file
diff --git a/src/objectives.jl b/src/objectives.jl
index 1de467da..742b8b14 100644
--- a/src/objectives.jl
+++ b/src/objectives.jl
@@ -299,7 +299,8 @@ function QuadraticRegularizer(;
 	times::AbstractVector{Int}=1:traj.T,
     dim::Int=nothing,
 	R::AbstractVector{<:Real}=ones(traj.dims[name]),
-	eval_hessian=true
+	eval_hessian=true,
+    timestep_symbol=:Δt
 )
 
     @assert !isnothing(name) "name must be specified"
@@ -318,18 +319,34 @@ function QuadraticRegularizer(;
 	@views function L(Z⃗::AbstractVector{<:Real}, Z::NamedTrajectory)
 		J = 0.0
 		for t ∈ times
+            if Z.timestep isa Symbol
+                Δt = Z⃗[slice(t, Z.components[timestep_symbol], Z.dim)]
+            else
+                Δt = Z.timestep
+            end
+            
             vₜ = Z⃗[slice(t, Z.components[name], Z.dim)]
-            J += 0.5 * vₜ' *  (R .* vₜ)
+            rₜ = Δt .* vₜ
+            J += 0.5 * rₜ' * (R .* rₜ)
 		end
 		return J
 	end
 
 	@views function ∇L(Z⃗::AbstractVector{<:Real}, Z::NamedTrajectory)
-		∇ = zeros(Z.dim * Z.T)
+		∇ = zeros(Z.dim * Z.T)        
 		Threads.@threads for t ∈ times
-			vₜ_slice = slice(t, Z.components[name], Z.dim)
+            vₜ_slice = slice(t, Z.components[name], Z.dim)
             vₜ = Z⃗[vₜ_slice]
-			∇[vₜ_slice] = R .* vₜ
+
+            if Z.timestep isa Symbol
+                Δt_slice = slice(t, Z.components[timestep_symbol], Z.dim)
+                Δt = Z⃗[Δt_slice]
+                ∇[Δt_slice] .= vₜ' * (R .* (Δt .* vₜ))
+            else
+                Δt = Z.timestep
+            end
+
+			∇[vₜ_slice] .= R .* (Δt.^2 .* vₜ)
 		end
 		return ∇
 	end
@@ -341,16 +358,48 @@ function QuadraticRegularizer(;
 
 		∂²L_structure = Z -> begin
             structure = []
-            # vₜ Hessian structure (eq. 17)
+            # Hessian structure (eq. 17)
             for t ∈ times
                 vₜ_slice = slice(t, Z.components[name], Z.dim)
-                diag_inds = collect(zip(vₜ_slice, vₜ_slice))
-                append!(structure, diag_inds)
+                vₜ_vₜ_inds = collect(zip(vₜ_slice, vₜ_slice))
+                append!(structure, vₜ_vₜ_inds)
+
+                if Z.timestep isa Symbol
+                    Δt_slice = slice(t, Z.components[timestep_symbol], Z.dim)
+                    # ∂²_vₜ_Δt
+                    vₜ_Δt_inds = [(i, j) for i ∈ vₜ_slice for j ∈ Δt_slice]
+                    append!(structure, vₜ_Δt_inds)
+                    # ∂²_Δt_vₜ
+                    Δt_vₜ_inds = [(i, j) for i ∈ Δt_slice for j ∈ vₜ_slice]
+                    append!(structure, Δt_vₜ_inds)
+                    # ∂²_Δt_Δt
+                    Δt_Δt_inds = collect(zip(Δt_slice, Δt_slice))
+                    append!(structure, Δt_Δt_inds)
+                end
             end
             return structure
         end
 
-		∂²L = (Z⃗, Z) -> vcat(fill(R, length(times))...)
+		∂²L = (Z⃗, Z) -> begin
+            values = []
+            # Match Hessian structure indices
+            for t ∈ times
+                if Z.timestep isa Symbol
+                    Δt = Z⃗[slice(t, Z.components[timestep_symbol], Z.dim)]
+                    append!(values, R .* Δt.^2)
+                    # ∂²_vₜ_Δt, ∂²_Δt_vₜ
+                    vₜ = Z⃗[slice(t, Z.components[name], Z.dim)]
+                    append!(values, 2 * (R .* (Δt .* vₜ)))
+                    append!(values, 2 * (R .* (Δt .* vₜ)))
+                    # ∂²_Δt_Δt
+                    append!(values, vₜ' * (R .* vₜ))
+                else
+                    Δt = Z.timestep
+                    append!(values, R .* Δt.^2)
+                end
+            end
+            return values
+        end
 	end
 
 	return Objective(L, ∇L, ∂²L, ∂²L_structure, Dict[params])