Action Distillation

A technique where a complex teacher policy (e.g., an RL policy with privileged state access) is distilled into a simpler student policy (e.g., a visuomotor policy using only camera images). The student is trained via behavioral cloning on the teacher's rollouts. This two-stage approach is common in sim-to-real transfer: train a performant teacher in simulation with full state, then distill to a deployable vision policy.