to be the case I would do the right can representation when decision comes out of it and just be used with optimal control we get the optimal result and so you some work now trying to look at what you have a nonlinear system might apply deep neural networks and so forth what does it mean to have you know optimal estimation of state from your observations and how you know when is that compatible with your control and so forth so very interesting theoretical direction if you're more Theory inclined so another way to think of it is to say