Before revision:  In this work we propose an approach that takes this idea a step forward, within a reinforcement learning (RL ) framework. Training a traditional forward-looking agent using RL can be difficult because rewards are often sparse, e.g. given only at the goal. Instead, we first train a backward-looking agent with a simple relaxed goal .
After revision:  In this work we propose a novel RL approach for such settings. In short, we first train a backward-looking agent with a simple relaxed goal .