going to do for things like avoiding to bump into other cars for example right so I already talked about this idea that if you have a forward model of the world that gives you the state of the world at time T plus one of the state the function of the state at time T and the action you're gonna take you can sort of roll out a an action in your head with using this model and there has planned a sequence of action that will minimize your cost here the cost being I want to stay in my lane I don't want to bump into other car I don't want to get too