the network is started randomly and then adapted during the episode so this paper deals with this problem and tries to implement this sort of more biologically plausible way of learning a policy adapting to the environment and achieve ultimately good performance in this task and it has some nice property namely that it can deal with these things as you can see here front right leg damage front left leg damage but we'll get to that later but just so you know what's coming so the paper is called meta learning through hebbian plasticity