Michael Cheika has said that Australia will improve for their Rugby World Cup semi-final against Argentina.

Australia scraped past Scotland in the quarter-final by a single point after a controversial last-minute penalty.

"I didn't imagine we'd be in this situation but now that we're here I want to make sure I do the best possible job for this team," Cheika told reporters.

"Nothing is given to you in this game - you've got to earn everything. We have to improve on our performance on the field and that means myself and the coaches have to improve off the pitch.

"I believe a lot in this side and the players we have. The players have worked very hard and, while that doesn't mean anything in itself, it gives us the best opportunity to win that we could hope for."

Australia's chances of victory have been boosted by the return of key players Israel Folau and David Pocock.