private void learn()
	{
		int iteration = 0;
		double myDelt;
		
		do {
			myDelt = 0;
			for(int i=0; i<v.length; i++ )
				for( int j=0; j<v[i].length; j++ )
				{
					if( v[i][j] == null ) continue;
					
					if( !track.onTrack(new Point(i,j)) )
					{
						v[i][j] = null; //no sense in updating invalid points, this will decrease storage and CPU
						continue;
					}
					
					if( track.finalState(new State(i,j,0,0)) ) //final state, don't let it update the score.
					{
						continue;
					}
					
					for( int k=0; k<v[i][j].length; k++ )
						for( int l=0; l<v[i][j][k].length; l++)
						{   //for each state [i][j][k][l]							
							double temp = v[i][j][k][l];
							
							State now = new State(i,j,k+Speed.MIN_SPEED,l+Speed.MIN_SPEED);
							
							//figure out the best action to take, if we can.
							double maxScore = sentinal;
							State  maxState = null;
							for( int m=0; m<Action.ALL_ACTIONS.length; m++ )
							{
								State next = track.NextState(now, Action.ALL_ACTIONS[m], false);
								if( maxScore < v[next.p.xpos][next.p.ypos][next.s.xmod()][next.s.ymod()] )
								{
									maxScore = v[next.p.xpos][next.p.ypos][next.s.xmod()][next.s.ymod()];
									maxState = next;
								}
							}
							
							//figure out what would happen if we mess up
							Action a = new Action(0,0);
							State next = track.NextState(now, a, false);
							double whoops = v[next.p.xpos][next.p.ypos][next.s.xmod()][next.s.ymod()];
							
							//update V(state)
							v[i][j][k][l] = 0.9 * (discount*maxScore + Utilities.Reward(maxState, track) )+
											0.1 * (discount*whoops   + Utilities.Reward(next,     track) );
							//v[i][j][k][l] = discount * ( 0.9*maxScore + 0.1*whoops );
							
							
							//check the delta on that
							if( Math.abs(temp - v[i][j][k][l]) > myDelt )
							{
								myDelt = Math.abs(temp - v[i][j][k][l]);
							}
						}
				}
			if( iteration++ % 1000 == 0 && DEBUG ) System.out.println("This round's delta: " + myDelt );
		} while ( myDelt > delta );
		
		return;
	}