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By exploiting human expertise, our technique enables rapid learning of autonomous social and domain-specific policies in complex and nondeterministic environments. Last, we underline the generic properties of SPARC and discuss how this paradigm is relevant to a broad range of difficult human-robot interaction scenarios.Would we trust a robot? Science fiction says no, but explainable robotics may find a way.Insects are a constant source of inspiration for roboticists. Their compliant bodies allow them to squeeze through small openings a