A Proofs of Propositions Lemma 4 Let

Equation 9. Therefore if we define a standard "policy" loss L This is the "soft" version of an analogous statement made for "hard" optimality first shown in [32]. This argument is the direct counterpart to Theorem 2 in [32]--which uses argmax instead of softmax. From this point onwards, the same strategy for Proposition 2 again applies, completing the proof. Environments used for experiments are from OpenAI gym [56]. Each environment is associated with a true reward function (unknown to all imitation algorithms).