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As stated in the title, I'm wondering if it would be possible to "outperform" the master in the apprenticeship learning. I'm aware that the question might be not clear enough; but hopefully, someone might have done something on it before.

More precisely, I'm actually asking a clear way to define the target of learning: If the master's behavior is defined as standards, then of course the answer should be NO.

However, consider a real example: in the case of autonomous vehicles, if we design the algorithm to mimic a human master, then would it be possible for the algorithm to outperform the master (consider ideal case, and neglect physical condition, e.g. tired, un-focused...), especially in new situations, if we well-define a new reasonable standard?

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