Supplementary Materials for Bayesian Robust Optimization for Imitation Learning Daniel S. Brown

When using the robust performance metric described in Section 4.2, we have We solve the above linear program to obtain the results presented in Section 5.1. Work done while at UT Austin. We use Scipy's linear programming software (v 1.4.1) MDP is solved to obtain the sample's likelihood and determine the transition probabilities within the Markov chain. We used a learning rate of 0.01.