latent space problem where it's just linear and very simple to solve that's the main idea behind is embed to control paper we're covering now so the existence they considered were pendulum card pull and three linked arm but again this is from pixel soda a pixel input when the lid representation where hopefully dynamics is close to linear and hence control becomes easy so it's called stochastic control the methods they apply it's kind of a standard control method then you can apply to linear systems and embed to