@article{enhancethesafetyinreinforcementlearningb,
  title = {Enhance the Safety in Reinforcement Learning by ADRC Lagrangian Methods},
  author = {Mingxu Zhang and Huicheng Zhang and Jiaming Ji and Yaodong Yang and Ying Sun},
  year = {2026},
  eprint = {2601.18142},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2601.18142},
}