1. Achiam, J., Held, D., Tamar, A., Abbeel, P.: Constrained policy optimization. In: International Conference on Machine Learning, pp. 22–31. PMLR (2017)
2. Alshiekh, M., Bloem, R., Ehlers, R., Könighofer, B., Niekum, S., Topcu, U.: Safe reinforcement learning via shielding. In: Thirty-Second AAAI Conference on Artificial Intelligence (2018)
3. Baier, C., Katoen, J.P.: Principles of Model Checking. MIT press, Cambridge (2008)
4. Bellman, R.: A Markovian decision process. J. Math. Mech., 679–684 (1957)
5. Bharadhwaj, H., Kumar, A., Rhinehart, N., Levine, S., Shkurti, F., Garg, A.: Conservative safety critics for exploration. arXiv preprint arXiv:2010.14497 (2020)