hi there take a look at the following problem on the left right here so you have this quadruped and the goal is to have it walk forward or in any direction as far as possible now usually this is the domain of sort of reinforcement learning so you have inputs which is the sensors of the joints of the quadruped and you have outputs which is how much force you want to put on each of the legs and you have to somehow learn a policy to make it walk forward reinforcement learning does that by sort of trial and error using an