# SHAIL: Safety-Aware Hierarchical Adversarial Imitation Learning for Autonomous Driving in Urban Environments

> Research article (2023 IEEE International Conference on Robotics and Automation (ICRA), 2023) · cited 18× · AI/ML

**Wikidata**: [openalex:W4383108453](https://www.wikidata.org/wiki/openalex:W4383108453)  
**Source**: https://4ort.xyz/entity/shail-safety-aware-hierarchical-adversarial-imitation-learning-for-autonomous-driving-in-urban-environments