using a planner look using look ahead as a function of which sequence of actions do I get the most reward taking that first action that sequence of actions repeat and here learns the latent space encoding together with learning D dynamics also is joint learning of encoding and dynamics recently has been an improver that is called dreamer from the same office roughly and what they show is that you can actually run a limb planning in in latent space you can actually train a active critic and Leyton space simulator and that'll