While roboticists have introduced increasingly sophisticated systems over the past decades, teaching these systems to successfully and reliably tackle new tasks has often proved challenging. Part of this training entails mapping high-dimensional data, such as images collected by on-board RGB cameras, to goal-oriented robotic actions.While roboticists have introduced increasingly sophisticated systems over the past decades, teaching these systems to successfully and reliably tackle new tasks has often proved challenging. Part of this training entails mapping high-dimensional data, such as images collected by on-board RGB cameras, to goal-oriented robotic actions.[#item_full_content]