@inproceedings{thrifty,
    title={ThriftyDAgger: Budget-Aware Novelty and Risk Gating for Interactive Imitation Learning},
    author={Hoque, Ryan and Balakrishna, Ashwin and Novoseller, Ellen and Brown, Daniel S. and Wilcox, Albert and Goldberg, Ken},
    booktitle={Conference on Robot Learning (CoRL)},
    year={2021},
    organization={PMLR}
}