Teaching Inverse Reinforcement Learners via Features and Demonstrations

Weintroduceanaturalquantity,the teaching risk, which measures the potential suboptimality of policies that look optimal to the learner in this setting. We show that bounds on the teaching risk guarantee that the learner is able to find a near-optimal policy using standard algorithms basedoninversereinforcement learning. Basedonthesefindings, we suggest a teaching scheme in which the expert can decrease the teaching risk by updating the learner's worldview, and thus ultimately enable her to find a near-optimalpolicy.