collision be based on what I see right now and based on the actions I will take any intervening time through that is able to learn in a total internal representation of how the world works but most importantly how the world works as it relates to features that matter for navigation versus try to learn everything about the world which might be a lot to learn relative to what you actually need to learn be successful at your task and so based on its able to learn to navigate these environments pretty well then so that the real robot