rwise</p></li>
<li><p>usually inefficient / insufficient</p></li>
</ul>
</li>
<li><p>one improvement: DAgger (ross et al. 2011) - use learned policy to generate synthetic observations and have humans label those</p>
<ul>
<li><p>we can query observations when deviate slightly from expert trajectory</p></li>
</ul>
</li>
<li><p>goal-conditioned behavioral cloning - subdivides data based on different goals - learn <span class="math notranslate nohighlight">\(\pi_\theta(a|s, g)\)</span></p>
<ul>
<li><p>example -