to find an action that accomplishes that goal and that that's the cycle and then either you didn't have the right objective or you didn't find the minimum for that objective well enough to do what you wanted and in terms of solving it I think you guys all know but like you can you can learn you know that's the the promise of deep reinforcement learning is that you can well potentially learn both of these things from data and you can do sampling techniques you need a trajectory library you can do a tree based search or you