Bai, Qinbo, Amrit Singh Bedi, Mridul Agarwal, Alec Koppel, and Vaneet Aggarwal. “Achieving Zero Constraint Violation for Constrained Reinforcement Learning via Primal-Dual Approach”. Proceedings of the AAAI Conference on Artificial Intelligence 36, no. 4 (June 28, 2022): 3682-3689. Accessed April 24, 2024. https://ojs.aaai.org/index.php/AAAI/article/view/20281.