@article{balancerewardandsafetyoptimizationfor,
  title = {Balance Reward and Safety Optimization for Safe Reinforcement Learning: A Perspective of Gradient Manipulation},
  author = {Shangding Gu and Bilgehan Sel and Yuhao Ding and Lu Wang and QIngwei Lin and Ming Jin and Alois Knoll},
  year = {2024},
  eprint = {2405.01677},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2405.01677v2},
}