 We show that our method outperforms imitation learning based method and reaches  high success rate compared to an end-to-end learning approach.
<fluency>  We show that our method outperforms imitation learning based method and reaches  high success rate compared to an end-to-end learning approach.
 We show that our method outperforms an imitation learning-based method and reaches high success rate compared to an end-to-end learning approach.