uncertainty dibal you have is you will have measurements reduce yesterday in your distribution then action gets taken which introduces new uncertainty and the distribution becomes higher variance how to model actions well we can again do it with a probability distribution so we can say the prohibition of our next state X prime given current state X and action U and that again is a causal model it's something we can build a model for and then use to calculate the distribution over next States so for example a robot might try to open a door