2026 Data-Driven Synthesis of Probabilistic Controlled Invariant Sets for Linear MDPs controlled-invariant-sets data-driven-control linear-mdps probabilistic-safety reinforcement-learning safe-rl shielding Paper page PDF Year2026AuthorsKazumune Hashimoto, Shunki Kimura, Kazunobu Serizawa, Junya Ikemoto, Yulong Gao, Kai CaiarXiv2604.02727 [eess.SY]