you run the the policy network so there's no planning necessary in the end the policy network has already kind of thought in his mind when it was training all the bad things that could happen and this is the the blue car here is driving itself in traffic and you have to realize that the traffic doesn't realize the car the blue car is here it doesn't see it is maybe a better example here so the yellow car is a real car the blue car started at the same location but decided to do something else so this is the one that we drive and here it's