reward in the future and use 0 same thing but now action conditional and was able to solve a very wide range of game situations I'm on a variation is successful feature so you might say it's enough predicting reward which is just one number what if reward consists of many components gave a clear about location of the robot maybe I care about energy expend maybe I care about other things these are all features and so the idea here is then if I had a set of features that relate the reward why not learn to predict well learn a latent space model