take that will land you in XT normally you would call that UT minus 1 I think that's what almost everybody calls it but in the book they call a UT it's the action that you know you take right before you land in state X T so that's what it is and that's also reflected in the graph over there UT it's actually you take right before you end up in state X D so unlined assumptions are independent noise meaning that the this thing here these two assumptions means that if you let's say how did the mystic model plus noise that the plus noise