Before revision:  compared to IL baselines, it achieves competitive success rates while not requiring feedback providers to have agent-specific expertise. We also provide theoretical guarantees of the algorithm under certain assumptions on the teacher and the environment.
After revision:  compared to IL baselines, it achieves competitive success rates without requiring the teaching agent to be able to demonstrate the desired behavior using the learning agent's actions. Apart from empirical evaluation, we also provide theoretical guarantees of the algorithm under certain assumptions on the teacher and the environment.