sequence of actions that optimizes how close we'll get to the goal so that's the planning part assuming we have this dance model we can run back obligation to play how do you get the dynamics model well here's we're going to do we're going to learn the dynamics model such that so we're going to try to find parameters in this dynamics model such that if we use those parameters to run this optimization to find actions then the sequence of actions we find corresponds to what was shown in a demonstration that we're given so we're