@InProceedings{Jamgochian2023icra,
  author    = {Arec Jamgochian and Etienne Buehrle and Johannes Fischer and Mykel J. Kochenderfer},
  booktitle = icra,
  title     = {{SHAIL}: Safety-aware hierarchical adversarial imitation learning for autonomous driving in urban environments},
  year      = {2023},
  doi       = {10.1109/ICRA48891.2023.10161449},
  url       = {https://arxiv.org/abs/2204.01922},
}

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