If you have the model of something, its as good as knowledge, implicit* models 
are easier to think about, and take lots of sampling.  For example a physics 
engine and an accurate geometry of its surroundings and you can get the truths 
of the environment, sans geometry you cant model. (like gas for example.) 

If the robot could use this physics+geometry in a more optimized explicit 
fashion, then maybe alot less computational resources are required.

Any thoughts?



* I mean implicit through multisampling.
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