a reinforcement agent why not say hey when I learned my dynamics model I should train it end to end such that what I learned is maximal compatible with a planner that I will use in the future so this goes a little bit back to the early thing we cover the embed to control we said if we can learn a linear dynamics model in latent space planning comes easy you're gonna say what a feel a more general plan and my mom and so that general planner might work well in a wide range of situations now can we learn a representation that if we combine it