@inproceedings{zheng2021safe,
 archiveprefix = {arXiv},
 arxiv = {https://arxiv.org/abs/2003.09488},
 author = {Zheng, Liyuan and Shi, Yuanyuan and Ratliff, Lillian J. and Zhang, Baosen},
 booktitle = {Proceedings of the 3rd Conference on Learning for Dynamics and Control},
 editor = {Jadbabaie, Ali and Lygeros, John and Pappas, George J. and A. Parrilo, Pablo and Recht, Benjamin and Tomlin, Claire J. and Zeilinger, Melanie N.},
 eprint = {2003.09488},
 pages = {336--347},
 pdf = {http://proceedings.mlr.press/v144/zheng21a/zheng21a.pdf},
 publisher = {PMLR},
 series = {Proceedings of Machine Learning Research},
 title = {{Safe Reinforcement Learning of Control-Affine Systems with Vertex Networks}},
 url = {https://proceedings.mlr.press/v144/zheng21a.html},
 volume = {144},
 year = {2021}
}