@article{endtoendsafereinforcementlearning,
  title = {End-to-End Safe Reinforcement Learning through Barrier Functions for Safety-Critical Continuous Control Tasks},
  author = {Richard Cheng and Gabor Orosz and Richard M. Murray and Joel W. Burdick},
  year = {2019},
  eprint = {1903.08792},
  archivePrefix = {arXiv},
  url = {http://arxiv.org/abs/1903.08792v1},
}