@article{modelbasedsafereinforcementlearningusing,
  title = {Model-based Constrained Reinforcement Learning using Generalized Control Barrier Function},
  author = {Haitong Ma and Jianyu Chen and Shengbo Eben Li and Ziyu Lin and Yang Guan and Yangang Ren and Sifa Zheng},
  year = {2021},
  eprint = {2103.01556},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2103.01556v2},
}