@article{YC-ea:2017,
  author    = {Yinlam Chow and
               Mohammad Ghavamzadeh and
               Lucas Janson and
               Marco Pavone},
  title     = {Risk-Constrained Reinforcement Learning with Percentile Risk Criteria},
  journal   = {Journal of Machine Learning Research},
  year      = {2017},
  url       = {http://arxiv.org/abs/1512.01629},
}