@article{conservativeandadaptivepenaltyformodel,
  title = {Conservative and Adaptive Penalty for Model-Based Safe Reinforcement Learning},
  author = {Yecheng Jason Ma and Andrew Shen and Osbert Bastani and Dinesh Jayaraman},
  year = {2021},
  eprint = {2112.07701},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2112.07701v1},
}