It seems like with each passing day, humans cede more ground to our robot overlords. They now dunk on us in basketball, kick our ass at table tennis, assist with brain surgeries and are even learning to fight our wars. Usually, these robots learn to do the these things either by watching a human do the task at hand and then replicating it, or having their motions explicitly planned by a human operator. Neither of these systems is perfect: a robot that learns its task by demonstration has a hard time replicating that skill in a different context while meticulously planning out a robot’s every movement is time consuming.