need to know it's going to break and so what you could do say hey instead of learning a fully dynamics model and say I need to learn just what the future will look like be able to predict that you say hey what if I can predict what action I took for example seeing this shattered bottle and say well the action taken was dropping the bottle and so if I can go from I can make that prediction then I can also understand you want to achieve a certain goal what action might leave me there and not with me there this is called inverse dynamics and so