directory and of course the beauteous ones is learn to check out all these behaviors for different Z's now at test time you need to do something else but they need to run out of certain speed either will be Z's that already correspond to running forward and then you can fine-tune the Z directly around with to learn a policy it isn't to figure out the Z that will result in the behavior that you want here are some videos from the paper that make a model paper looking at and curating all kinds of different trajectories correspond to