"The goal-policy mapping approach would presumably restrict the robot to goals experienced during training, preventing generalization to new goals" "['con', 'con', 'con', 'con', 'con', 'con', 'con', 'con', 'con', 'con', 'con', 'con', 'con', 'con', 'con', 'con', 'con', 'con', 'con', 'con', 'con', 'con']" "paper quality"