@article{cbfrlsafetyfilteringreinforcementlearnin,
  title = {CBF-RL: Safety Filtering Reinforcement Learning in Training with Control Barrier Functions},
  author = {Lizhi Yang and Blake Werner and Massimiliano de Sa and Aaron D. Ames},
  year = {2025},
  eprint = {2510.14959},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2510.14959},
}