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  author  = {Jiayi Weng and Huayu Chen and Dong Yan and Kaichao You and Alexis Duburcq and Minghao Zhang and Yi Su and Hang Su and Jun Zhu},
  title   = {Tianshou: A Highly Modularized Deep Reinforcement Learning Library},
  journal = {Journal of Machine Learning Research},
  year    = {2022},
  volume  = {23},
  number  = {267},
  pages   = {1--6},
  url     = {http://jmlr.org/papers/v23/21-1127.html}
}

@inproceedings{stooke2020responsive,
  title        = {Responsive safety in reinforcement learning by pid lagrangian methods},
  author       = {Stooke, Adam and Achiam, Joshua and Abbeel, Pieter},
  booktitle    = {International Conference on Machine Learning},
  pages        = {9133--9143},
  year         = {2020},
  organization = {PMLR}
}

@inproceedings{liu2022constrained,
  title        = {Constrained variational policy optimization for safe reinforcement learning},
  author       = {Liu, Zuxin and Cen, Zhepeng and Isenbaev, Vladislav and Liu, Wei and Wu, Steven and Li, Bo and Zhao, Ding},
  booktitle    = {International Conference on Machine Learning},
  pages        = {13644--13668},
  year         = {2022},
  organization = {PMLR}
}

@inproceedings{achiam2017constrained,
  title        = {Constrained policy optimization},
  author       = {Achiam, Joshua and Held, David and Tamar, Aviv and Abbeel, Pieter},
  booktitle    = {International conference on machine learning},
  pages        = {22--31},
  year         = {2017},
  organization = {PMLR}
}

@article{zhang2020first,
  title   = {First order constrained optimization in policy space},
  author  = {Zhang, Yiming and Vuong, Quan and Ross, Keith},
  journal = {Advances in Neural Information Processing Systems},
  volume  = {33},
  pages   = {15338--15349},
  year    = {2020}
}