intermediate states that are that meaningful for a robot to try to follow that you know sequence of intermediate states and rope configurations to get some start to go and so we're able to by training in Foca which looks at realism of transitions rather than just realism of individual frames is able to learn a dynamics model in a latent space that we can use for robot to make plants now one of the first things we covered was the world models which showed that you can learn a latent space and then learn all right on top of