the mistakes in this environment are not as costly as if you actually make a mistake in the physical world and do real harm similarly an agent that is able to imagine future states of the world using a generative model can plan for the future by simulating many different ideas of plans that it could execute and testing which of them works out as best as possible there's a paper on that subject with Chelsea Finn is the first author where we evaluated generative models on the robot pushing data set to start working toward this