diff --git a/dreamer4/dreamer4.py b/dreamer4/dreamer4.py
index 4112820..c6f66c0 100644
--- a/dreamer4/dreamer4.py
+++ b/dreamer4/dreamer4.py
@@ -1220,6 +1220,22 @@ class DynamicsModel(Module):
 
         self.register_buffer('zero', tensor(0.), persistent = False)
 
+    @property
+    def device(self):
+        return self.zero.device
+
+    def get_times_from_signal_level(
+        self,
+        signal_levels,
+        align_dims_left_to = None
+    ):
+        times = signal_levels.float() / self.max_steps
+
+        if not exists(align_dims_left_to):
+            return times
+
+        return align_dims_left(times, align_dims_left_to)
+
     def parameter(self):
         params = super().parameters()
 
@@ -1228,25 +1244,87 @@ class DynamicsModel(Module):
 
         return list(set(params) - set(self.video_tokenizer.parameters()))
 
+    @torch.no_grad()
     def generate(
         self,
-        num_frames,
+        time_steps,
         num_steps = 4,
+        batch_size = 1,
         image_height = None,
-        image_width = None
+        image_width = None,
+        return_decoded_video = None
     ): # (b t n d) | (b c t h w)
 
-        assert log(num_steps).is_integer(), f'number of steps must be a power of 2'
+        assert log2(num_steps).is_integer(), f'number of steps {num_steps} must be a power of 2'
+        assert 0 < num_steps <= self.max_steps, f'number of steps {num_steps} must be between 0 and {self.max_steps}'
 
-        raise NotImplementedError
+        latent_shape = self.latent_shape
+
+        # derive step size
+
+        step_size = self.max_steps // num_steps
+        step_size_log2 = tensor(log2(step_size), dtype = torch.long, device = self.device)
+
+        # denoising
+        # teacher forcing to start with
+
+        latents = torch.empty((batch_size, 0, *latent_shape), device = self.device)
+
+        while latents.shape[1] < time_steps:
+
+            noised_latent = torch.randn((batch_size, 1, *latent_shape), device = self.device)
+
+            for step in range(num_steps):
+                signal_level = tensor(step * step_size, device = self.device)
+
+                noised_latent_with_context, pack_context_shape = pack((latents, noised_latent), 'b * n d')
+
+                pred = self.forward(
+                    latents = noised_latent_with_context,
+                    signal_levels = signal_level,
+                    step_sizes_log2 = step_size_log2,
+                    return_pred_only = True
+                )
+
+                _, pred = unpack(pred, pack_context_shape, 'b * n d')
+
+                # derive flow, based on whether in x-space or not
+
+                if self.pred_orig_latent:
+                    times = self.get_times_from_signal_level(signal_level, noised_latent)
+                    flow = (pred - noised_latent) / (1. - times)
+                else:
+                    flow = pred
+
+                # denoise
+
+                noised_latent += flow * (step_size / self.max_steps)
+
+            latents = cat((latents, noised_latent), dim = 1)
+
+        # returning video
+
+        has_tokenizer = exists(self.video_tokenizer)
+        return_decoded_video = default(return_decoded_video, has_tokenizer)
+
+        if not return_decoded_video:
+            return denoised_latents
+
+        generated_video = self.video_tokenizer.decode(
+            latents,
+            height = image_height,
+            width = image_width
+        )
+
+        return generated_video
 
     def forward(
         self,
         *,
         video = None,
         latents = None,             # (b t n d) | (b t d)
-        signal_levels = None,       # (b t)
-        step_sizes_log2 = None,     # (b)
+        signal_levels = None,       # () | (b) | (b t)
+        step_sizes_log2 = None,     # () | (b)
         tasks = None,               # (b)
         rewards = None,             # (b t)
         return_pred_only = False,
@@ -1270,6 +1348,18 @@ class DynamicsModel(Module):
 
         batch, time, device = *latents.shape[:2], latents.device
 
+        # shape related
+
+        if exists(signal_levels) and signal_levels.ndim == 0:
+            signal_levels = repeat(signal_levels, '-> b', b = batch)
+
+        if exists(step_sizes_log2):
+            if step_sizes_log2.ndim == 0:
+                step_sizes_log2 = repeat(step_sizes_log2, '-> b', b = batch)
+
+            if step_sizes_log2.ndim == 1:
+                step_sizes_log2 = repeat(step_sizes_log2, 'b -> b t', t = time)
+
         # flow related
 
         assert not (exists(signal_levels) ^ exists(step_sizes_log2))
@@ -1300,11 +1390,7 @@ class DynamicsModel(Module):
 
         # times is from 0 to 1
 
-        def get_times_from_signal_level(signal_levels):
-            times = signal_levels.float() / self.max_steps
-            return align_dims_left(times, latents)
-
-        times = get_times_from_signal_level(signal_levels)
+        times = self.get_times_from_signal_level(signal_levels, latents)
 
         # noise from 0 as noise to 1 as data
 
@@ -1468,7 +1554,7 @@ class DynamicsModel(Module):
             if is_v_space_pred:
                 first_step_pred_flow = first_step_pred
             else:
-                first_times = get_times_from_signal_level(signal_levels)
+                first_times = self.get_times_from_signal_level(signal_levels, noised_latents)
                 first_step_pred_flow = (first_step_pred - noised_latents) / (1. - first_times)
 
             # take a half step
@@ -1485,7 +1571,7 @@ class DynamicsModel(Module):
             if is_v_space_pred:
                 second_step_pred_flow = second_step_pred
             else:
-                second_times = get_times_from_signal_level(signal_levels_plus_half_step)
+                second_times = self.get_times_from_signal_level(signal_levels_plus_half_step, denoised_latent)
                 second_step_pred_flow = (second_step_pred - denoised_latent) / (1. - second_times)
 
             # pred target is sg(b' + b'') / 2
diff --git a/tests/test_dreamer.py b/tests/test_dreamer.py
index 888885c..05299b3 100644
--- a/tests/test_dreamer.py
+++ b/tests/test_dreamer.py
@@ -88,6 +88,17 @@ def test_e2e(
 
     assert flow_loss.numel() == 1
 
+    # generating
+
+    generated_video = dynamics.generate(
+        time_steps = 10,
+        image_height = 128,
+        image_width = 128,
+        batch_size = 2
+    )
+
+    assert generated_video.shape == (2, 3, 10, 128, 128)
+
     # rl
 
     rewards = torch.randn((2, 4)) * 100.