performing a task such as placing into the red bowl can the robot figure out a policy for placing for performing the toss turn in the video such as placing the peach into the red bowl and in this case you need to learn how to learn from weak supervision and what I mean my weak supervision is that the video of the human has all the information about the task but is not accessible in a way of kind of a standard machine learning data set and so we need to do something a bit different here and in particular what