@article{safemodelbasedreinforcementlearningusing,
  title = {Safe Reinforcement Learning Using Robust Control Barrier Functions},
  author = {Yousef Emam and Gennaro Notomista and Paul Glotfelter and Zsolt Kira and Magnus Egerstedt},
  year = {2021},
  eprint = {2110.05415},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2110.05415v2},
}