@article{extendingdeepmodelpredictivecontrolwith,
  title = {Safety Augmented Value Estimation from Demonstrations (SAVED): Safe Deep Model-Based RL for Sparse Cost Robotic Tasks},
  author = {Brijen Thananjeyan and Ashwin Balakrishna and Ugo Rosolia and Felix Li and Rowan Mcallister and Joseph E. Gonzalez and Sergey Levine and Francesco Borrelli and Ken Goldberg},
  year = {2019},
  eprint = {1905.13402},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/1905.13402v8},
}