@article{recoveryrlsafereinforcementlearningwith,
  title = {Recovery RL: Safe Reinforcement Learning with Learned Recovery Zones},
  author = {Brijen Thananjeyan and Ashwin Balakrishna and Suraj Nair and Michael Luo and Krishnan Srinivasan and Minho Hwang and Joseph E. Gonzalez and Julian Ibarz and Chelsea Finn and Ken Goldberg},
  year = {2020},
  eprint = {2010.15920},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2010.15920v2},
}