@inproceedings{ICML-2017-AchiamHTA,
	author        = "Joshua Achiam and David Held and Aviv Tamar and Pieter Abbeel",
	booktitle     = "{Proceedings of the 34th International Conference on Machine Learning}",
	ee            = "http://proceedings.mlr.press/v70/achiam17a.html",
	pages         = "22--31",
	publisher     = "{PMLR}",
	title         = "{Constrained Policy Optimization}",
	year          = 2017,
}