Tyler Westenbroek, Ayush Agrawal, Fernando Castañeda, S. Shankar Sastry, Koushil Sreenath. Combining Model-Based Design and Model-Free Policy Optimization to Learn Safe, Stabilizing Controllers. In Raphaël M. Jungers, Necmiye Ozay, Alessandro Abate, editors, 7th IFAC Conference on Analysis and Design of Hybrid Systems, ADHS 2021, Brussels, Belgium, July 7-9, 2021. Volume 54 of IFAC-PapersOnLine, pages 19-24, Elsevier, 2021. [doi]
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