know you can have an eternal cost for a good things are you know and I don't want to cry right and so you can you can sort of run this model forward and perhaps infer a action sequence that will minimize your costs right that model will have to be learned with self supervised running basically here is a state of the world let me take an action and see what the result is or not taking action just because the world is being the world and that's the same problem we need to solve here the self supervised learning