@inproceedings{constrainedcrossentropymethodforsafe,
  title = {Constrained Cross-Entropy Method for Safe Reinforcement Learning},
  author = {Min Wen and Ufuk Topcu},
  year = {2018},
  booktitle = {NeurIPS 2018 12},
  url = {http://papers.nips.cc/paper/7974-constrained-cross-entropy-method-for-safe-reinforcement-learning},
}