@article{biyik2019asking,
  title={Asking easy questions: A user-friendly approach to active reward learning},
  author={B{\i}y{\i}k, Erdem and Palan, Malayandi and Landolfi, Nicholas C and Losey, Dylan P and Sadigh, Dorsa},
  journal={arXiv preprint arXiv:1910.04365},
  year={2019}
}