behaviors you and instead of having this nice push behavior should have just some jittery behavior of the robot gripper that wouldn't really interact with the blocks or get any block to the target area after it's done those exploratory behaviors of course the next single will happens a policy grand update that will update the policy to essentially sample Z from a more focused distribution that focuses on the part of the session will correspond to the part a semi-circle what the target is or the block that needs to be pushed okay now what we did