@article{sampleefficientsafelearningforonline,
  title = {Sample-efficient Safe Learning for Online Nonlinear Control with Control Barrier Functions},
  author = {Wenhao Luo and Wen Sun and Ashish Kapoor},
  year = {2022},
  eprint = {2207.14419},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2207.14419v1},
}