In short, imitation is good and you have to do it initially. But once you’re bootstrapped enough, if you want to beat the teacher you must do on-policy RL and play to your own strengths and weaknesses :)
https://www.jasonwei.net/blog/life-lessons-from-reinforcement-learning
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https://www.jasonwei.net/blog/life-lessons-from-reinforcement-learning
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