Methods and systems for responding to changing conditions include training (204) a model, using a processor, using trajectories that resulted in a positive outcome and trajectories that resulted in a negative outcome. Training is performed using an adversarial discriminator to train the model to generate trajectories that are similar to historical trajectories that resulted in a positive outcome, and using a cooperative discriminator to train the model to generate trajectories that are dissimilar to historical trajectories that resulted in a negative outcome. A dynamic response regime is generated (210) using the trained model and environment information. A response to changing environment conditions is performed (210) in accordance with the dynamic response regime.
ADVERSARIAL COOPERATIVE IMITATION LEARNING FOR DYNAMIC TREATMENT