a lot more effective when using the distance in Laytonsville earning in the process I just described but then you do reinforcement in a new environment example we did imitation in three link and 4 link environments switch to a 5 link environment Rand reinforced wanting the file of environments faced and the latent space there is used for reward shaping and I guess you learn a lot more quickly same thing here where the initial learning happened with a point mass and a to sub-point mass and then actually have the controller and robot and thanks to