model for sensitive reading given State but we don't know how to get a model for state given sensory reading directly because we need to know the prior over States and wanted to use Bayes rule to get that now in Bayes filters the framework is that we get a stream of actions and observations we have a sensory model a action model or a dynamics model and a prior distribution for where the state of the system is starting from so these are our Givens what we want is an estimate of the state of the system at all times so we want to