Self-play seems to be very important for reinforcement learning algorithms. Can we train reinforcement learning algorithms without self-play (or learn mostly from past experiences)?
For example, let's say that I want to build a TRPG AI, which involves natural language and physical interaction between heterogeneous players. I can't do self-play this game so many times. But I happen to have a lot of match log of past human games.
Can I achieve higher score than humans using reinforcement learning using these logs (maybe like Experience Replay)?