Cheng R, Orosz G, Murray RM, Burdick JW. End-to-End Safe Reinforcement Learning through Barrier Functions for Safety-Critical Continuous Control Tasks. AAAI [Internet]. 2019Jul.17 [cited 2024Apr.20];33(01):3387-95. Available from: https://ojs.aaai.org/index.php/AAAI/article/view/4213