@article{safecontrolgymaunifiedbenchmarksuite,
  title = {safe-control-gym: a Unified Benchmark Suite for Safe Learning-based Control and Reinforcement Learning in Robotics},
  author = {Zhaocong Yuan and Adam W. Hall and SiQi Zhou and Lukas Brunke and Melissa Greeff and Jacopo Panerati and Angela P. Schoellig},
  year = {2021},
  eprint = {2109.06325},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2109.06325v4},
}