well it turns out really if sometimes what we're doing here is building a very strong prior intercom by building the validation aspect into it that's a bit like why do we use a confident we'll use a continent to encode translation invariance and once we can learn more efficiently than if we were to use a fully connected Network it's kind of the same idea here we're learning that work that should solve a control problem that under the hood uses planning well then we should just put that planning into network the planning structure into the