Before revision:  Recent progress in deep Inverse Reinforcement Learning (IRL) suggests that the robot could fall back on demonstrations: ask the human for demonstrations of the task , and recover a reward defined over not just the known features, but also the raw state space.
After revision:  Recent progress in deep Inverse Reinforcement Learning (IRL) suggests that the robot could ask for task demonstrations and recover a reward defined over not just the known features, but also the raw state space.