by a generator and so if a generator here trying to generate fake sequence of observations trying to fool the discriminator and at convergence what that means that this generator is trying to generate observation sequences that are indistinguishable from real-world observation sequences once you have done you can use that generator as a simulator and learn that simulator or planning that similar in this case we did planning to try to achieve goals we will see on the right here is we didn't actually did this for rope manipulation