diff --git a/docs/guide/imitation.rst b/docs/guide/imitation.rst
new file mode 100644
index 0000000..df7895c
--- /dev/null
+++ b/docs/guide/imitation.rst
@@ -0,0 +1,55 @@
+.. _imitation:
+
+Imitation Learning
+==================
+
+The `imitation <https://github.com/HumanCompatibleAI/imitation>`__ library implements
+imitation learning algorithms on top of Stable-Baselines3, including:
+
+  - Behavioral Cloning
+  - `DAgger <https://arxiv.org/abs/1011.0686>`_ with synthetic examples
+  - `Adversarial Inverse Reinforcement Learning <https://arxiv.org/abs/1710.11248>`_ (AIRL)
+  - `Generative Adversarial Imitation Learning <https://arxiv.org/abs/1606.03476>`_  (GAIL)
+
+
+It also provides `CLI scripts <#cli-quickstart>`_ for training and saving
+demonstrations from RL experts, and for training imitation learners on these demonstrations.
+
+
+Installation
+------------
+
+Installation requires Python 3.7+:
+
+::
+
+  pip install imitation
+
+
+CLI Quickstart
+---------------------
+
+::
+
+  # Train PPO agent on cartpole and collect expert demonstrations
+  python -m imitation.scripts.expert_demos with fast cartpole log_dir=quickstart
+
+  # Train GAIL from demonstrations
+  python -m imitation.scripts.train_adversarial with fast gail cartpole rollout_path=quickstart/rollouts/final.pkl
+
+  # Train AIRL from demonstrations
+  python -m imitation.scripts.train_adversarial with fast airl cartpole rollout_path=quickstart/rollouts/final.pkl
+
+
+.. note::
+
+    You can remove the ``fast`` option to run training to completion. For more CLI options
+    and information on reading Tensorboard plots, see the
+    `README <https://github.com/HumanCompatibleAI/imitation#cli-quickstart>`_.
+
+
+Python Interface Quickstart
+---------------------------
+
+This `example script <https://github.com/HumanCompatibleAI/imitation/blob/master/examples/quickstart.py>`_
+uses the Python API to train BC, GAIL, and AIRL models on CartPole data.
diff --git a/docs/guide/migration.rst b/docs/guide/migration.rst
index 1f7f5ce..0d54ad4 100644
--- a/docs/guide/migration.rst
+++ b/docs/guide/migration.rst
@@ -46,8 +46,8 @@ Breaking Changes
 - The features extractor (CNN extractor) is shared between policy and q-networks for DDPG/SAC/TD3 and only the policy loss used to update it (much faster)
 - Tensorboard legacy logging was dropped in favor of having one logger for the terminal and Tensorboard (cf :ref:`Tensorboard integration <tensorboard>`)
 - We dropped ACKTR/ACER support because of their complexity compared to simpler alternatives (PPO, SAC, TD3) performing as good.
-- We dropped GAIL support as we are focusing on model-free RL only, you can however take a look at the `Imitation Learning Baseline Implementations <https://github.com/HumanCompatibleAI/imitation>`_
-  which are based on SB3.
+- We dropped GAIL support as we are focusing on model-free RL only, you can however take a look at the :ref:`imitation project <imitation>` which implements
+  GAIL and other imitation learning algorithms on top of SB3.
 - ``action_probability`` is currently not implemented in the base class
 
 You can take a look at the `issue about SB3 implementation design <https://github.com/hill-a/stable-baselines/issues/576>`_ for more details.
diff --git a/docs/index.rst b/docs/index.rst
index 9b7edea..cfbb6fe 100644
--- a/docs/index.rst
+++ b/docs/index.rst
@@ -44,6 +44,7 @@ Main Features
    guide/callbacks
    guide/tensorboard
    guide/rl_zoo
+   guide/imitation
    guide/migration
    guide/checking_nan
    guide/developer
diff --git a/docs/misc/changelog.rst b/docs/misc/changelog.rst
index 1474856..09957f4 100644
--- a/docs/misc/changelog.rst
+++ b/docs/misc/changelog.rst
@@ -40,6 +40,7 @@ Others:
 Documentation:
 ^^^^^^^^^^^^^^
 - Added first draft of migration guide
+- Added intro to `imitation <https://github.com/HumanCompatibleAI/imitation>`_ library (@shwang)
 - Enabled doc for ``CnnPolicies``