times and so we learn to embed into space where at each time a local linear model can capture the transition very well so you still get initial random rollouts followed by learning representation and latent dynamics but now I'm not a simple linear model but the sequence of linear models and then from that once we've done that we can start doing a robot infer where we are in this thing's getting out of in your models find the sequence of controllers execute that get new data and repeat the smaller base to draw in action a model-based reinforced