LSD
Take changes in state distance into account for more complex and dynamic skills by incentivizing challenging behaviors.
Align the direction of skill vector and state change.
LSD는 learning skill policy and 에 distance 고려를 추가하기 위해 to maximize 항을 추가한다 and regulate to reflect distance in : preventing becoming infinitely large.
Limitation
euclidan distance based does not always consistent
