given a demonstration a sequence of actions and we'll have an imitation loss and that will say we want to be able to imitate the sequence of actions by writing this very specific process of optimizing with aggregation our sequence of actions against a dynamics model that we're going to learn once we have learned that the nameks model this way what it means is then onwards we can learn we can use this latent space dynamics model to find sequence of actions to optimize how close we get to some other goal in the future so benefit