depends on UT and XT minus 1 and this here is now our complete recursion because this is a thing we assume we already have is the same thing we wanted to find for XD we have it for XT minus 1 and now we can just repeat all the way back to X 0 and we're good to go so at every time step as we track our system we can incorporate the controls we applied U at time T here gives the tribution over XT this thing over here gives distribution over XT given that what we already knew about XT minus 1 and the controls we applied and then we