@article{safeexplorationinreinforcementlearning,
  title = {Safe Exploration in Reinforcement Learning: Training Backup Control Barrier Functions with Zero Training Time Safety Violations},
  author = {Pedram Rabiee and Amirsaeid Safari},
  year = {2023},
  eprint = {2312.07828},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2312.07828v2},
}