@inproceedings{constrainedpolicyoptimization,
  title = {Constrained Policy Optimization},
  author = {Joshua Achiam and David Held and Aviv Tamar and Pieter Abbeel},
  year = {2017},
  booktitle = {ICML 2017 8},
  eprint = {1705.10528},
  archivePrefix = {arXiv},
  url = {http://arxiv.org/abs/1705.10528v1},
}