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How to Predict Forward
Predicting forward what you think's going to happen. If something else happens, you better start predicting again. So re regenerate a plan when you don't. I mean, that also requires a very fast feedback loop of updating what your prediction, how it matches to the actual real world. Those things have to run pretty quickly. A thousand Hertz of acting and sensing quickly. You know, there's a few different layers of that.