Looks great Jonathan. Thanks for the write-up.
FYI this week we are working on some nice changes for the Data Recorder and the Imitation Learning components. Nothing fundamentally different but cleaning up their APIs and allowing recordings to work as Data Assets and/or binary files. Should be possible to do interactive data recording in the editor but also have decent support for data recording in a more automated fashion (say from a game replay).
Feel free to explore them as they are but know that some cleanup is coming 
Thanks!