actually some limitations in this approach this coaster comes from an ATM at all paper is that when you have a humanoid which is very high dimensional compared to cheetah which is essentially just kind of stands up or runs on its head humanoid is high dimensional you try to find financial information behaviors between Si and trajectories you can it can take a long time or it can have a lot of mutual information with all trajectories actually being on the ground because there's a lot of different things you can do on the