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The Importance of a Good Human Driver
The simulator is conditioned on the pose. You can put in like a state action pair and get up the next state. And then once you have a simulator, you can do RL in the simulator and RL will get us that human policy. So it doesn't just say, what would a good human driver do? It says,What would a goodhuman driver do? The experience is comfortable, but also not annoying in that, like the thing is very cautious. A system that you never want to disengage.