I don't see how that follows. Humans have trained by experimenting with actually manipulating things, not just by vision. It's not clear at all that someone who had gained intuition about the world exclusively by looking at it would have any success with mechanical arms.
1. First create a model that can evaluate how well a task is going; the YT approach can be used here.
2. Then build a real-world robot, and train it by letting it do tasks, and use the first model to supervise it; here the robot can learn to rely on extra senses such as touch/pressure.
What you say ("interventional") sounds like it's human-supervised.
But maybe I'm interpreting it in the wrong way, so please correct me if so.
This looks like a good brief overview (I only skimmed it but wanted to give you more than "lol, google it") http://smithamilli.com/blog/causal-ladder/