@article{saferdataefficientandsafereinforcement1,
  title = {SAFER: Data-Efficient and Safe Reinforcement Learning via Skill Acquisition},
  author = {Dylan Slack and Yinlam Chow and Bo Dai and Nevan Wichers},
  year = {2022},
  eprint = {2202.04849},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2202.04849v2},
}