@article{learningcollisionfreeandtorquelimited,
  title = {Learning Collision-free and Torque-limited Robot Trajectories based on Alternative Safe Behaviors},
  author = {Jonas C. Kiemel and Torsten Kröger},
  year = {2021},
  eprint = {2103.03793},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2103.03793v3},
}