use those as like actual pairs to to solve for the exact rotation and apparently this works really well so that's some of the data that you get from there's some additional tricks in terms of embedding nearest neighbor that I didn't go into so but this is the results that they have and they're comparing that with cost lingo supervision and without any supervision which is their own method and it's really surprisingly they could get you competitive performance with using ground truth data of actual pairs so this again like this is not as complex