@article{constrainedvariationalpolicyoptimization,
  title = {Constrained Variational Policy Optimization for Safe Reinforcement Learning},
  author = {Zuxin Liu and Zhepeng Cen and Vladislav Isenbaev and Wei Liu and Zhiwei Steven Wu and Bo Li and Ding Zhao},
  year = {2022},
  eprint = {2201.11927},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2201.11927v3},
}