@article{deepreinforcementlearningundersignal,
  title = {Deep reinforcement learning under signal temporal logic constraints using Lagrangian relaxation},
  author = {Junya Ikemoto and Toshimitsu Ushio},
  year = {2022},
  eprint = {2201.08504},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2201.08504v4},
}