actually late in state and so forth taken on articulated state and after that series of actions we want our little state here to match up the delays in state of the goal of the rich that water key so we can do is within search over actions that will get us close and so if we had already trained this live in space dynamics model all we would need to do is to optimize this sequence of actions and if this is a continuous space we can optimize the sequence of actions and back to the dishes a look around standard vacuum Gatien define a