bit probability review then we'll look at Bayes filters which are going to be the core of what we'll be doing and we'll look at base filters today in the simplest setting which is just discrete state discrete observation and then we'll look at gaussians which will allow us next lecture to do it in continuous state spaces and in many ways similar to how lqr give us local solutions similarly with Gaussian siva for nonlinear systems we'll be able to find local approximations to the probability distributions all right