Just saw this new article on how human children mix imitation and exploration entitled Imitation and Innovation: The Dual Engines of Cultural Learning. It seems that the level to which they rely on imitation is reduced reliably with increased performance. This should inform our work on robot learning.
This and similar insights from psychology makes me think we should define a new field of robagogy, meaning 'how to teach robots'. This area should be informed by pedagogy 'how to teach children' and the less popular andragogy or 'how to teach adults'.