Sample from approximate dynamics

[LemonPi]

Are there any plans to extend this to approximated dynamics (e.g. with a NN) and using importance sampling instead of sampling trajectories directly from the environment? (replace __init__ env arg with a dynamics arg, then take in env for just the control method for actual stepping)

That would actually match the contributions from the 2017 paper and make it more broadly applicable. I would like to use this in an environment where I can't reset the state of the simulator, so trajectories have to be generated with the model.