depend on any other word and you can just come loose independent or you can just produce independent things which will make the sentence often not make any sense they also have this KL objective which is a regularizer which I believe that's just a trial and error they built it in because but it is a regularizer I don't want to really go into that and then they they do demonstration in and they re-enacted on a robot the demonstration here is that there is a situation where two things have a tension on and you're supposed to move