@article{endtoendimitationlearningwithsafety,
  title = {End-to-End Imitation Learning with Safety Guarantees using Control Barrier Functions},
  author = {Ryan K. Cosner and Yisong Yue and Aaron D. Ames},
  year = {2022},
  eprint = {2212.11365},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2212.11365v1},
}