The most the most inner loop there is basically the current controller for the motors and that's on a chip that has something like 200 instructions to spare every one of those loops. So at that level kind of if you think about something at the lowest level happening at tens of thousands of times per second, then the highest level is maybe, you know, once a second. And so, in terms of the, there's a lot of advantages to kind of end to end reasoning because you get to jointly take the information you get to learn from it from data.

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