@article{ipointeriorpointpolicyoptimizationunder,
  title = {IPO: Interior-point Policy Optimization under Constraints},
  author = {Yongshuai Liu and Jiaxin Ding and Xin Liu},
  year = {2019},
  eprint = {1910.09615},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/1910.09615v1},
}