Yang, Ning, Pengyu Wang, Guoqing Liu, Haifeng Zhang, Pin Lyu, and Jun Wang. “Proactive Constrained Policy Optimization With Preemptive Penalty”. Proceedings of the AAAI Conference on Artificial Intelligence 40, no. 32 (March 14, 2026): 27583–27591. Accessed May 16, 2026. https://ojs.aaai.org/index.php/AAAI/article/view/39978.