Before revision:  To address this challenge, this paper proposes a Reachability-based Trajectory Safeguard (RTS), which leverages trajectory parameterization and reachability analysis to ensure safety while a policy is being learned.
After revision:  To address this challenge, this paper proposes a Reachability-based Trajectory Safeguard (RTS), which leverages reachability analysis to ensure safety while a policy is being learned.