now I can plan against a transition well I need to act now let's go to this is test let's learn now we can see that it's learned to avoid collisions and in terms of what it's doing it it knows to predict as a function of the actions taking whatever which is likely to happen or not well heading it might end up with and then take actions accordingly and again the reason I'm showing all these videos here is because as you see different approaches are testable very different environments and this by no means a converged research field and there's a