  Previous research into agent communication has shown that a pre-trained guide
can speed up the learning process of an imitation learning agent. The guide
achieves this by providing the agent with discrete messages in an emerged
language about how to solve the task. We extend this one-directional
communication by a one-bit communication channel from the learner back to the
guide: It is able to ask the guide for help, and we limit the guidance by
penalizing the learner for these requests. During training, the agent learns to
control this gate based on its current observation. We find that the amount of
requested guidance decreases over time and guidance is requested in situations
of high uncertainty. We investigate the agent's performance in cases of open
and closed gates and discuss potential motives for the observed gating
behavior.
