1. Constrained policy optimization;Achiam,2017
2. Alex Ray, Joshua Achiam, D.A. (2019). Benchmarking safe exploration in deep reinforcement learning.
3. Dalal, G., Dvijotham, K., Vecerik, M., Hester, T., Paduraru, C., and Tassa, Y. (2018). Safe exploration in continuous action spaces. doi:10.48550/ARXIV.1801.08757.
4. Simulation tools for model-based robotics: Comparison of bullet, havok, mujoco, ode and physx;Erez,2015
5. A comprehensive survey on safe reinforcement learning;García;Journal of Machine Learning Research,2015