Before revision:  We also introduce the notion of  recoverability, implicit in many previous analyses of imitation learning, which allows us to cleanly delineate how well each algorithmic family is able to mitigate compounding errors.
After revision:  We also introduce the notion of moment recoverability, implicit in many previous analyses of imitation learning, which allows us to cleanly delineate how well each algorithmic family is able to mitigate compounding errors.