@article{saferdataefficientandsafereinforcement,
  title = {SAFER: Data-Efficient and Safe Reinforcement Learning Through Skill Acquisition},
  author = {Dylan Z Slack and Yinlam Chow and Bo Dai and Nevan Wichers},
  year = {2021},
  url = {https://openreview.net/forum?id=xwAw8QZkpWZ},
}