@article{codecollocationfordemonstrationencoding,
  title = {Imitation Learning via Simultaneous Optimization of Policies and Auxiliary Trajectories},
  author = {Mandy Xie and Anqi Li and Karl Van Wyk and Frank Dellaert and Byron Boots and Nathan Ratliff},
  year = {2021},
  eprint = {2105.03019},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2105.03019v2},
}