@article{isaacsiterativesoftadversarialactor,
  title = {ISAACS: Iterative Soft Adversarial Actor-Critic for Safety},
  author = {Kai-Chieh Hsu and Duy Phuong Nguyen and Jaime Fernández Fisac},
  year = {2022},
  eprint = {2212.03228},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2212.03228v3},
}