@article{howdoesthelagrangianguidesafereinforceme,
  title = {How Does the Lagrangian Guide Safe Reinforcement Learning through Diffusion Models?},
  author = {Xiaoyuan Cheng and Wenxuan Yuan and Boyang Li and Yuanchao Xu and Yiming Yang and Hao Liang and Bei Peng and Robert Loftin and Zhuo Sun and Yukun Hu},
  year = {2026},
  eprint = {2602.02924},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2602.02924},
}