Liu, Yongshuai, Jiaxin Ding, and Xin Liu. “IPO: Interior-Point Policy Optimization under Constraints”. Proceedings of the AAAI Conference on Artificial Intelligence 34, no. 04 (April 3, 2020): 4940-4947. Accessed June 24, 2024. https://ojs.aaai.org/index.php/AAAI/article/view/5932.