@inproceedings{yao2024gradient,
  title={Gradient shaping for multi-constraint safe reinforcement learning},
  author={Yao, Yihang and Liu, Zuxin and Cen, Zhepeng and Huang, Peide and Zhang, Tingnan and Yu, Wenhao and Zhao, Ding},
  booktitle={6th Annual Learning for Dynamics \& Control Conference},
  pages={25--39},
  year={2024},
  organization={PMLR}
}