@article{scposafereinforcementlearningwithsafety,
  title = {SCPO: Safe Reinforcement Learning with Safety Critic Policy Optimization},
  author = {Jaafar Mhamed and Shangding Gu},
  year = {2023},
  eprint = {2311.00880},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2311.00880v1},
}