@article{safeexplorationinmodelbasedreinforcement,
  title = {Safe Exploration in Model-based Reinforcement Learning using Control Barrier Functions},
  author = {Max H. Cohen and Calin Belta},
  year = {2021},
  eprint = {2104.08171},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2104.08171v4},
}