@article{hierarchicalgenerativeadversarialimitati,
  title = {Hierarchical Generative Adversarial Imitation Learning with Mid-level Input Generation for Autonomous Driving on Urban Environments},
  author = {Gustavo Claudio Karl Couto and Eric Aislan Antonelo},
  year = {2023},
  eprint = {2302.04823},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2302.04823v5},
}