high-level idea so the hang of ideas we're still gonna have a policy PI that conditions his actions on the observation the current stayed near and a latent code which might or might not come from a discreet code bubbly has come from a latent critical to a normal distribution so we can resample this in the future this will solving trajectories and so the way we're going to pre train this is by saying that there needs to be high mutual information between its directory that results from this policy and the latent code is acting based upon so you