model at the same time in this light in space this is applied to learn to poke object so well you see here on the left is data collection you can set this up for autonomous data collection on the right where you see is the learned control so it's learned that the Namek law and now I can look at the current state and look at the goal state and it can do a prediction of which action is going to help the most to get close to that goal state and can repeatedly do that well it finally reaches something very close to the goal State okay now