it is contrastive and that is the the kind of secret sauce in here the training objective it's what's called contrastive learning and that's what we're going to spend most of our time on today exploring what that means alright so here's the general framework you can see it down here sorry about that so you can see that reinforcement learning is just a box which is we don't care about the RL algorithm you use that's just you know what what comes at the end what comes at the beginning oh here is the observation so the observation in an RL