what it does is it says i'm going to learn to walk with my left leg using my left front leg that means when i have no damage or damage to the right front leg i'm just fine and i'm just going to take the hit basically where i have damage to the left front leg because i'm it's just going to suck so they solved they solve this like walk more than 100 steps so that doesn't it since it can only learn a fixed policy it um basically discards the case where there's damage to the left front leg it takes that hit in order to be better in the other two