A Minimum-fuel cost (MF) derivation (t) A and 0 t T is H(s (t), a (t), p

The last two cases correspond to cost function gradients perpendicular to the faces of the feasible region. In linear optimization, these cases give is an infinite number of optimal solutions between two adjacent vertices. B.1 Baseline Algorithms We provide a brief discussion of the baseline algorithms below. The libraries our implementations are based off for PPO, SAC, and DreamerV2 are available under the MIT License, and the base MPO implementation under the Apache License 2.0. For MuJoCo [52], we used a Pro Lab license.