right here so this quarter pad usually it's you know you simply walk in a direction that's your reward and rl is perfectly fine at this as well however this is a bit of a has a bit of a trick to it namely you are always in one of three situations either you have an undamaged quarter pad or its kind of left leg front left leg is damaged or its front right leg is damaged okay and you don't tell the you simply sample these situations uh uniformly and you don't tell the algorithm which situation it is in now if you look