 There was, like, basically no one who was like, it's just going to work. It was like, eh, we don't really know what to work on next, so we need to see where it breaks. 100%. Yeah, we had a list of three big ideas. We started on idea number one. We were so excited to work on idea number two. We really wanted to do what's called hierarchical RL, where you would, like, have some sort of hierarchy that, you know, you'd have long-term planning and then you'd have some shorter-term, like, you know, muscle movements kind of stuff.